lane_change_path.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 <utility>
#include <vector>
#include "modules/planning/tasks/lane_change_path/proto/lane_change_path.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_interface_base/task_base/common/path_generation.h"
 
namespace apollo {
namespace planning {
 
enum SidePassDirection { LEFT_BORROW = 1, RIGHT_BORROW = 2 };
class LaneChangePath : 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);
  void UpdateLaneChangeStatus();
  void GetBoundaryFromLaneChangeForbiddenZone(PathBoundary* const path_bound);
  void GetLaneChangeStartPoint(const ReferenceLine& reference_line,
                               double adc_frenet_s,
                               common::math::Vec2d* start_xy);
  bool IsClearToChangeLane(ReferenceLineInfo* reference_line_info);
  void UpdateStatus(double timestamp, ChangeLaneStatus::Status status_code,
                    const std::string& path_id);
  bool HysteresisFilter(const double obstacle_distance,
                        const double safe_distance,
                        const double distance_buffer,
                        const bool is_obstacle_blocking);
  void SetPathInfo(PathData* const path_data);
 
  bool CheckLastFrameSucceed(const apollo::planning::Frame* const last_frame);
 
 private:
  LaneChangePathConfig config_;
  bool is_clear_to_change_lane_ = false;
  bool is_exist_lane_change_start_position_ = false;
  common::math::Vec2d lane_change_start_xy_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::LaneChangePath, Task)
}  // namespace planning
}  // namespace apollo