lane_borrow_path_generic.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
#include <tuple>
#include <vector>
#include <unordered_map>
 
#include "modules/planning/tasks/lane_borrow_path_generic/proto/lane_borrow_path_generic.pb.h"
 
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_interface_base/task_base/common/path_generation.h"
#include "modules/planning/park_data_center/park_data_center.h"
 
namespace apollo {
namespace planning {
 
enum SidePassDirection { LEFT_BORROW = 1, RIGHT_BORROW = 2 };
class LaneBorrowPathGeneric : public PathGeneration {
public:
    bool Init(
            const std::string& config_dir,
            const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
 
private:
    apollo::common::Status Process(Frame* frame, ReferenceLineInfo* reference_line_info) override;
    bool DecidePathBounds(std::vector<PathBoundary>* boundary);
    bool OptimizePath(const std::vector<PathBoundary>& path_boundaries, std::vector<PathData>* candidate_path_data);
    bool AssessPath(std::vector<PathData>* candidate_path_data, PathData* final_path);
    bool GetBoundaryFromNeighborLane(
            const SidePassDirection pass_direction,
            PathBoundary* const path_bound,
            std::string* borrow_lane_type);
 
    bool GetBoundaryFromNudgeDecision(const SidePassDirection pass_direction, PathBoundary* const path_bound);
 
    bool IsNecessaryToBorrowLane();
 
    bool HasSingleReferenceLine(const Frame& frame);
 
    bool IsWithinSidePassingSpeedADC(const Frame& frame);
 
    bool IsLongTermBlockingObstacle();
 
    bool IsSidePassableObstacle(const ReferenceLineInfo& reference_line_info);
 
    bool IsEnableNudge(const ReferenceLineInfo& reference_line_info);
 
    void UpdateSelfPathInfo();
 
    bool IsNudgeFinish();
    void CheckLaneBorrow(
            const ReferenceLineInfo& reference_line_info,
            bool* left_neighbor_lane_borrowable,
            bool* right_neighbor_lane_borrowable);
    bool CheckLaneBoundaryType(
            const ReferenceLineInfo& reference_line_info,
            const double check_s,
            const SidePassDirection& lane_borrow_info);
    void SetPathInfo(PathData* const path_data);
 
    void GetSLPolygons(std::vector<SLPolygon>* polygons, LaneBorrowInfo lane_borrow_info);
 
    LaneBorrowPathGenericConfig config_;
    std::vector<SidePassDirection> decided_side_pass_direction_;
    int use_self_lane_;
    std::string blocking_obstacle_id_;
    bool is_in_path_lane_borrow_scenario_ = false;
    std::unordered_map<std::string, double> narrowest_width_;
};
 
// Below are helper functions.
 
int ContainsOutOnReverseLane(
        const std::vector<std::tuple<double, PathData::PathPointType, double>>& path_point_decision);
 
int GetBackToInLaneIndex(const std::vector<std::tuple<double, PathData::PathPointType, double>>& path_point_decision);
 
bool ComparePathData(
        const ReferenceLineInfo& reference_line_info,
        const PathData& lhs,
        const PathData& rhs,
        const Obstacle* blocking_obstacle,
        const std::unordered_map<std::string, double>& narrowest_width);
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::LaneBorrowPathGeneric, Task)
}  // namespace planning
}  // namespace apollo