path_bounds_decider_util.cc

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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.
 *****************************************************************************/
 
#include "modules/planning/planning_interface_base/task_base/common/path_util/path_bounds_decider_util.h"
 
#include <algorithm>
#include <functional>
#include <limits>
#include <set>
#include <string>
#include <tuple>
#include <unordered_map>
#include <vector>
 
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/math/linear_interpolation.h"
#include "modules/common/util/util.h"
#include "modules/planning/planning_base/common/sl_polygon.h"
#include "modules/planning/planning_base/common/util/util.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
 
namespace apollo {
namespace planning {
 
using apollo::common::VehicleConfigHelper;
 
bool PathBoundsDeciderUtil::InitPathBoundary(
    const ReferenceLineInfo& reference_line_info,
    PathBoundary* const path_bound, SLState init_sl_state) {
  // Sanity checks.
  CHECK_NOTNULL(path_bound);
  path_bound->clear();
  const auto& reference_line = reference_line_info.reference_line();
  path_bound->set_delta_s(FLAGS_path_bounds_decider_resolution);
 
  const auto& vehicle_config =
      common::VehicleConfigHelper::Instance()->GetConfig();
  double index = 0;
  const auto& reference_line_towing_l =
      reference_line_info.reference_line_towing_l();
  for (double curr_s = init_sl_state.first[0];
       curr_s < std::fmin(init_sl_state.first[0] +
                              std::fmax(FLAGS_path_bounds_horizon,
                                        reference_line_info.GetCruiseSpeed() *
                                            FLAGS_trajectory_time_length),
                          reference_line.Length());
       curr_s += FLAGS_path_bounds_decider_resolution) {
    path_bound->emplace_back(curr_s, std::numeric_limits<double>::lowest(),
                             std::numeric_limits<double>::max());
    if (index < reference_line_towing_l.size()) {
      path_bound->back().towing_l = reference_line_towing_l.at(index);
    }
    index++;
  }
 
  // Return.
  if (path_bound->empty()) {
    ADEBUG << "Empty path boundary in InitPathBoundary";
    return false;
  }
  return true;
}
 
void PathBoundsDeciderUtil::GetStartPoint(
    common::TrajectoryPoint planning_start_point,
    const ReferenceLine& reference_line, SLState* init_sl_state) {
  if (FLAGS_use_front_axe_center_in_path_planning) {
    planning_start_point =
        InferFrontAxeCenterFromRearAxeCenter(planning_start_point);
  }
  AINFO << std::fixed << "Plan at the starting point: x = "
        << planning_start_point.path_point().x()
        << ", y = " << planning_start_point.path_point().y()
        << ", and angle = " << planning_start_point.path_point().theta();
 
  // Initialize some private variables.
  // ADC s/l info.
  *init_sl_state = reference_line.ToFrenetFrame(planning_start_point);
}
 
double PathBoundsDeciderUtil::GetADCLaneWidth(
    const ReferenceLine& reference_line, const double adc_s) {
  double lane_left_width = 0.0;
  double lane_right_width = 0.0;
  if (!reference_line.GetLaneWidth(adc_s, &lane_left_width,
                                   &lane_right_width)) {
    constexpr double kDefaultLaneWidth = 5.0;
    AWARN << "Failed to get lane width at planning start point.";
    return kDefaultLaneWidth;
  } else {
    return lane_left_width + lane_right_width;
  }
}
 
bool PathBoundsDeciderUtil::UpdatePathBoundaryWithBuffer(
    double left_bound, double right_bound, BoundType left_type,
    BoundType right_type, std::string left_id, std::string right_id,
    PathBoundPoint* const bound_point) {
  if (!UpdateLeftPathBoundaryWithBuffer(left_bound, left_type, left_id,
                                        bound_point)) {
    return false;
  }
  if (!UpdateRightPathBoundaryWithBuffer(right_bound, right_type, right_id,
                                         bound_point)) {
    return false;
  }
  return true;
}
 
bool PathBoundsDeciderUtil::UpdateLeftPathBoundaryWithBuffer(
    double left_bound, BoundType left_type, std::string left_id,
    PathBoundPoint* const bound_point) {
  double adc_half_width =
      VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0;
  left_bound = left_bound - adc_half_width;
  PathBoundPoint new_point = *bound_point;
  if (new_point.l_upper.l > left_bound) {
    new_point.l_upper.l = left_bound;
    new_point.l_upper.type = left_type;
    new_point.l_upper.id = left_id;
  }
  // Check if ADC is blocked.
  // If blocked, don't update anything, return false.
  if (new_point.l_lower.l > new_point.l_upper.l) {
    ADEBUG << "Path is blocked at" << new_point.l_lower.l << " "
           << new_point.l_upper.l;
    return false;
  }
  // Otherwise, update path_boundaries and center_line; then return true.
  *bound_point = new_point;
  return true;
}
 
bool PathBoundsDeciderUtil::UpdateRightPathBoundaryWithBuffer(
    double right_bound, BoundType right_type, std::string right_id,
    PathBoundPoint* const bound_point) {
  double adc_half_width =
      VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0;
  right_bound = right_bound + adc_half_width;
  PathBoundPoint new_point = *bound_point;
  if (new_point.l_lower.l < right_bound) {
    new_point.l_lower.l = right_bound;
    new_point.l_lower.type = right_type;
    new_point.l_lower.id = right_id;
  }
  // Check if ADC is blocked.
  // If blocked, don't update anything, return false.
  if (new_point.l_lower.l > new_point.l_upper.l) {
    ADEBUG << "Path is blocked at";
    return false;
  }
  // Otherwise, update path_boundaries and center_line; then return true.
  *bound_point = new_point;
  return true;
}
 
void PathBoundsDeciderUtil::TrimPathBounds(
    const int path_blocked_idx, PathBoundary* const path_boundaries) {
  if (path_blocked_idx != -1) {
    if (path_blocked_idx == 0) {
      AINFO << "Completely blocked. Cannot move at all.";
    }
    double front_edge_to_center =
        VehicleConfigHelper::GetConfig().vehicle_param().front_edge_to_center();
    double trimmed_s =
        path_boundaries->at(path_blocked_idx).s - front_edge_to_center;
    AINFO << "Trimmed from " << path_boundaries->back().s << " to "
          << path_boundaries->at(path_blocked_idx).s;
    while (path_boundaries->size() > 1 &&
           path_boundaries->back().s > trimmed_s) {
      path_boundaries->pop_back();
    }
  }
}
 
void PathBoundsDeciderUtil::GetSLPolygons(
    const ReferenceLineInfo& reference_line_info,
    std::vector<SLPolygon>* polygons, const SLState& init_sl_state) {
  polygons->clear();
  auto obstacles = reference_line_info.path_decision().obstacles();
  const double adc_back_edge_s = reference_line_info.AdcSlBoundary().start_s();
  for (const auto* obstacle : obstacles.Items()) {
    if (!IsWithinPathDeciderScopeObstacle(*obstacle)) {
      continue;
    }
    auto xy_poly = obstacle->PerceptionPolygon();
 
    // if (obstacle->PerceptionSLBoundary().end_s() < init_sl_state.first[0]) {
    //     continue;
    // }
    if (obstacle->PerceptionSLBoundary().end_s() < adc_back_edge_s) {
      continue;
    }
    const auto obstacle_sl = obstacle->PerceptionSLBoundary();
    polygons->emplace_back(obstacle_sl, obstacle->Id(),
                           obstacle->Perception().type());
  }
  sort(polygons->begin(), polygons->end(),
       [](const SLPolygon& a, const SLPolygon& b) {
         return a.MinS() < b.MinS();
       });
}
 
bool PathBoundsDeciderUtil::UpdatePathBoundaryBySLPolygon(
    const ReferenceLineInfo& reference_line_info,
    std::vector<SLPolygon>* const sl_polygon, const SLState& init_sl_state,
    PathBoundary* const path_boundary, std::string* const blocked_id,
    double* const narrowest_width) {
  std::vector<double> center_l;
  double max_nudge_check_distance;
  if (reference_line_info.IsChangeLanePath() ||
      path_boundary->label().find("regular/left") != std::string::npos ||
      path_boundary->label().find("regular/right") != std::string::npos) {
    center_l.push_back(
        (path_boundary->front().l_upper.l + path_boundary->front().l_lower.l) *
        0.5);
    max_nudge_check_distance =
        std::max(FLAGS_max_nudge_check_distance_in_lk,
                 2 * VehicleConfigHelper::GetConfig().vehicle_param().length());
  } else {
    center_l.push_back(0.0);
    max_nudge_check_distance =
        std::max(FLAGS_max_nudge_check_distance_in_lc,
                 2 * VehicleConfigHelper::GetConfig().vehicle_param().length());
  }
 
  *narrowest_width =
      path_boundary->front().l_upper.l - path_boundary->front().l_lower.l;
  double mid_l =
      (path_boundary->front().l_upper.l + path_boundary->front().l_lower.l) / 2;
  size_t nudge_check_count =
      size_t(max_nudge_check_distance / FLAGS_path_bounds_decider_resolution);
  double last_max_nudge_l = center_l.front();
  // bool obs_overlap_with_refer_center = false;
  const double adc_end_s = reference_line_info.AdcSlBoundary().end_s() + 1.0;
  const double adc_start_s = reference_line_info.AdcSlBoundary().start_s();
  const double adc_end_l = reference_line_info.AdcSlBoundary().end_l();
 
  for (size_t i = 1; i < path_boundary->size(); ++i) {
    double path_boundary_s = path_boundary->at(i).s;
    auto& left_bound = path_boundary->at(i).l_upper;
    auto& right_bound = path_boundary->at(i).l_lower;
    double default_width = right_bound.l - left_bound.l;
    auto begin_it =
        center_l.end() - std::min(nudge_check_count, center_l.size());
    last_max_nudge_l = *std::max_element(
        begin_it, center_l.end(),
        [](double a, double b) { return std::fabs(a) < std::fabs(b); });
    AINFO << "last max nudge l: " << last_max_nudge_l;
    bool is_left_width = false;
    double eq_width = util::CalculateEquivalentEgoWidth(
        reference_line_info, path_boundary_s, &is_left_width);
    double left_half_width, right_half_width;
    if (is_left_width) {
      left_half_width = eq_width + FLAGS_obstacle_lat_buffer;
      right_half_width =
          VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0 +
          FLAGS_obstacle_lat_buffer;
    } else {
      left_half_width =
          VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0 +
          FLAGS_obstacle_lat_buffer;
      right_half_width = eq_width + FLAGS_obstacle_lat_buffer;
    }
 
    for (size_t j = 0; j < sl_polygon->size(); j++) {
      if (sl_polygon->at(j).NudgeInfo() == SLPolygon::IGNORE) {
        AINFO << "UpdatePathBoundaryBySLPolygon, ignore obs: "
              << sl_polygon->at(j).id();
        continue;
      }
      double min_s = sl_polygon->at(j).MinS();
      double max_s =
          sl_polygon->at(j).MaxS() + FLAGS_obstacle_lon_end_buffer_park;
      if (max_s - min_s < FLAGS_path_bounds_decider_resolution) {
        max_s += FLAGS_path_bounds_decider_resolution;
        min_s -= FLAGS_path_bounds_decider_resolution;
      }
      if (max_s < path_boundary_s) {
        continue;
      }
      if (min_s > path_boundary_s) {
        break;
      }
      // double adc_obs_edge_buffer = GetBufferBetweenADCCenterAndEdge();
      sl_polygon->at(j).UpdatePassableInfo(left_bound.l, right_bound.l,
                                           right_half_width, left_half_width,
                                           path_boundary_s);
 
      double l_lower = sl_polygon->at(j).GetRightBoundaryByS(path_boundary_s);
      double l_upper = sl_polygon->at(j).GetLeftBoundaryByS(path_boundary_s);
      PathBoundPoint obs_left_nudge_bound(
          path_boundary_s, l_upper + right_half_width, left_bound.l);
      obs_left_nudge_bound.towing_l = path_boundary->at(i).towing_l;
      PathBoundPoint obs_right_nudge_bound(path_boundary_s, right_bound.l,
                                           l_lower - left_half_width);
      obs_right_nudge_bound.towing_l = path_boundary->at(i).towing_l;
      // obs_overlap_with_refer_center =
      //     left_bound.l < path_boundary->at(i).towing_l ||
      //     right_bound.l > path_boundary->at(i).towing_l;
 
      if (sl_polygon->at(j).NudgeInfo() == SLPolygon::UNDEFINED) {
        AINFO << "last_max_nudge_l: " << last_max_nudge_l
              << ", obs id: " << sl_polygon->at(j).id()
              << ", obs l: " << l_lower << ", " << l_upper;
        double obs_l = (l_lower + l_upper) / 2;
        if (sl_polygon->at(j).is_passable()[RIGHT_INDEX]) {
          if (sl_polygon->at(j).is_passable()[LEFT_INDEX]) {
            if (std::fabs(obs_l - mid_l) < 0.4 &&
                std::fabs(path_boundary_s - init_sl_state.first[0]) < 5.0) {
              if (init_sl_state.second[0] < obs_l) {
                sl_polygon->at(j).SetNudgeInfo(SLPolygon::RIGHT_NUDGE);
                AINFO << sl_polygon->at(j).id()
                      << " right nudge with init_sl_state";
              } else {
                sl_polygon->at(j).SetNudgeInfo(SLPolygon::LEFT_NUDGE);
                AINFO << sl_polygon->at(j).id()
                      << " left nudge width init_sl_state";
              }
            } else if (path_boundary_s - adc_start_s > 0 &&
                       path_boundary_s - adc_end_s < 0) {
              // check obs in side of ego
              if (adc_end_l < obs_l) {
                sl_polygon->at(j).SetNudgeInfo(SLPolygon::RIGHT_NUDGE);
                AINFO << sl_polygon->at(j).id()
                      << " right nudge with init_sl_state";
              } else {
                sl_polygon->at(j).SetNudgeInfo(SLPolygon::LEFT_NUDGE);
                AINFO << sl_polygon->at(j).id()
                      << " left nudge width init_sl_state";
              }
            } else {
              if (last_max_nudge_l < obs_l) {
                sl_polygon->at(j).SetNudgeInfo(SLPolygon::RIGHT_NUDGE);
                AINFO << sl_polygon->at(j).id()
                      << " right nudge, according max_nudge_l";
              } else {
                sl_polygon->at(j).SetNudgeInfo(SLPolygon::LEFT_NUDGE);
                AINFO << sl_polygon->at(j).id()
                      << " left nudge, according max_nudge_l";
              }
            }
          } else {
            sl_polygon->at(j).SetNudgeInfo(SLPolygon::RIGHT_NUDGE);
            AINFO << sl_polygon->at(j).id()
                  << " right nudge, left is not passable";
          }
        } else {
          sl_polygon->at(j).SetNudgeInfo(SLPolygon::LEFT_NUDGE);
          AINFO << sl_polygon->at(j).id()
                << " left nudge, right is not passable";
        }
      } else {
        AINFO << "last_max_nudge_l: " << last_max_nudge_l
              << ", obs id: " << sl_polygon->at(j).id()
              << ", obs l: " << l_lower << ", " << l_upper
              << ", nudge info: " << sl_polygon->at(j).NudgeInfo();
      }
      if (sl_polygon->at(j).NudgeInfo() == SLPolygon::RIGHT_NUDGE) {
        // right nudge
        if (obs_right_nudge_bound.l_upper.l < path_boundary->at(i).towing_l) {
          sl_polygon->at(j).SetOverlapeWithReferCenter(true);
          sl_polygon->at(j).SetOverlapeSizeWithReference(
              path_boundary->at(i).towing_l - obs_right_nudge_bound.l_upper.l);
        }
        if (!sl_polygon->at(j).is_passable()[RIGHT_INDEX]) {
          // boundary is blocked
          *blocked_id = sl_polygon->at(j).id();
          AINFO << "blocked at " << *blocked_id << ", s: " << path_boundary_s
                << ", left bound: " << left_bound.l
                << ", right bound: " << right_bound.l;
          sl_polygon->at(j).SetNudgeInfo(SLPolygon::BLOCKED);
          break;
        }
        if (obs_right_nudge_bound.l_upper.l < left_bound.l) {
          AINFO << "update left_bound: s " << path_boundary_s << ", l "
                << left_bound.l << " -> " << obs_right_nudge_bound.l_upper.l;
          left_bound.l = obs_right_nudge_bound.l_upper.l;
          left_bound.type = BoundType::OBSTACLE;
          left_bound.id = sl_polygon->at(j).id();
          *narrowest_width =
              std::min(*narrowest_width, left_bound.l - right_bound.l);
        }
      } else if (sl_polygon->at(j).NudgeInfo() == SLPolygon::LEFT_NUDGE) {
        // left nudge
        if (obs_left_nudge_bound.l_lower.l > path_boundary->at(i).towing_l) {
          sl_polygon->at(j).SetOverlapeWithReferCenter(true);
          sl_polygon->at(j).SetOverlapeSizeWithReference(
              obs_left_nudge_bound.l_lower.l - path_boundary->at(i).towing_l);
        }
        if (!sl_polygon->at(j).is_passable()[LEFT_INDEX]) {
          // boundary is blocked
          *blocked_id = sl_polygon->at(j).id();
          AINFO << "blocked at " << *blocked_id << ", s: " << path_boundary_s
                << ", left bound: " << left_bound.l
                << ", right bound: " << right_bound.l;
          sl_polygon->at(j).SetNudgeInfo(SLPolygon::BLOCKED);
          break;
        }
        if (obs_left_nudge_bound.l_lower.l > right_bound.l) {
          AINFO << "update right_bound: s " << path_boundary_s << ", l "
                << right_bound.l << " -> " << obs_left_nudge_bound.l_lower.l;
          right_bound.l = obs_left_nudge_bound.l_lower.l;
          right_bound.type = BoundType::OBSTACLE;
          right_bound.id = sl_polygon->at(j).id();
          *narrowest_width =
              std::min(*narrowest_width, left_bound.l - right_bound.l);
        }
      }
      // obs_overlap_with_refer_center =
      //     left_bound.l < path_boundary->at(i).towing_l ||
      //     right_bound.l > path_boundary->at(i).towing_l;
 
      // double current_center_l = obs_overlap_with_refer_center
      //                               ? (left_bound.l + right_bound.l) / 2.0
      //                               : path_boundary->at(i).towing_l;
      // last_max_nudge_l = std::fabs(current_center_l - mid_l) >
      //                            std::fabs(last_max_nudge_l - mid_l)
      //                        ? current_center_l
      //                        : last_max_nudge_l;
      last_max_nudge_l = std::fabs((left_bound.l + right_bound.l) / 2.0 -
                                   mid_l) > std::fabs(last_max_nudge_l - mid_l)
                             ? (left_bound.l + right_bound.l) / 2.0
                             : last_max_nudge_l;
    }
    // if blocked, trim path
    if (!blocked_id->empty()) {
      TrimPathBounds(i, path_boundary);
      *narrowest_width = default_width;
      return false;
    }
    // double current_center_l = obs_overlap_with_refer_center
    //                               ? (left_bound.l + right_bound.l) / 2.0
    //                               : path_boundary->at(i).towing_l;
    // center_l.push_back(current_center_l);
    center_l.push_back((left_bound.l + right_bound.l) / 2.0);
    AINFO << "update s: " << path_boundary_s
          << ", center_l: " << center_l.back();
  }
  return true;
}
 
bool PathBoundsDeciderUtil::AddCornerPoint(
    double s, double l_lower, double l_upper, const PathBoundary& path_boundary,
    ObsCornerConstraints* extra_constraints) {
  size_t left_index = 0;
  size_t right_index = 0;
  double left_weight = 0.0;
  double right_weight = 0.0;
  if (!path_boundary.get_interpolated_s_weight(s, &left_weight, &right_weight,
                                               &left_index, &right_index)) {
    AERROR << "Fail to find extra path bound point in path boundary: " << s
           << ", path boundary start s: " << path_boundary.front().s
           << ", path boundary end s: " << path_boundary.back().s;
    return false;
  }
  if (left_weight < 0.05 || right_weight < 0.05) {
    // filter contraint that near evaulated point
    return false;
  }
  ADEBUG << "corner" << s << "left_weight" << left_weight << "right_weight"
         << right_weight << "left_index" << left_index << "right_index"
         << right_index << "l_lower" << l_lower << "l_upper" << l_upper;
  extra_constraints->emplace_back(left_weight, right_weight, l_lower, l_upper,
                                  left_index, right_index, s);
  return true;
}
 
bool PathBoundsDeciderUtil::AddCornerPoint(
    SLPoint sl_pt, const PathBoundary& path_boundary,
    ObsCornerConstraints* extra_constraints, bool is_left, std::string obs_id,
    bool is_front_pt) {
  size_t left_index = 0;
  size_t right_index = 0;
  double left_weight = 0.0;
  double right_weight = 0.0;
  if (!path_boundary.get_interpolated_s_weight(
          sl_pt.s(), &left_weight, &right_weight, &left_index, &right_index)) {
    AERROR << "Fail to find extra path bound point in path boundary: "
           << sl_pt.s()
           << ", path boundary start s: " << path_boundary.front().s
           << ", path boundary end s: " << path_boundary.back().s;
    return true;
  }
  // if (left_weight < 0.05 || right_weight < 0.05) {
  //   // filter contraint that near evaulated point
  //   return true;
  // }
 
  double bound_l_upper = path_boundary.get_upper_bound_by_interpolated_index(
      left_weight, right_weight, left_index, right_index);
  double bound_l_lower = path_boundary.get_lower_bound_by_interpolated_index(
      left_weight, right_weight, left_index, right_index);
 
  double corner_l = is_left ? sl_pt.l() - GetBufferBetweenADCCenterAndEdge()
                            : sl_pt.l() + GetBufferBetweenADCCenterAndEdge();
  if ((is_left && corner_l < bound_l_upper) ||
      (!is_left && corner_l > bound_l_lower)) {
    if (is_left) {
      bound_l_upper = corner_l;
    } else {
      bound_l_lower = corner_l;
    }
    extra_constraints->emplace_back(left_weight, right_weight, bound_l_lower,
                                    bound_l_upper, left_index, right_index,
                                    sl_pt.s(), obs_id);
    if (bound_l_upper < bound_l_lower) {
      extra_constraints->blocked_id = obs_id;
      extra_constraints->block_left_index = left_index;
      extra_constraints->block_right_index = right_index;
      AINFO << "AddCornerPoint blocked id: " << obs_id << ", index ["
            << left_index << ", " << right_index << "]";
      return false;
    }
  }
 
  if (FLAGS_enable_expand_obs_corner) {
    double add_s = is_front_pt ? sl_pt.s() - FLAGS_expand_obs_corner_lon_buffer
                               : sl_pt.s() + FLAGS_expand_obs_corner_lon_buffer;
    if (!path_boundary.get_interpolated_s_weight(
            add_s, &left_weight, &right_weight, &left_index, &right_index)) {
      return true;
    }
 
    bound_l_upper = path_boundary.get_upper_bound_by_interpolated_index(
        left_weight, right_weight, left_index, right_index);
    bound_l_lower = path_boundary.get_lower_bound_by_interpolated_index(
        left_weight, right_weight, left_index, right_index);
 
    if ((is_left && corner_l < bound_l_upper) ||
        (!is_left && corner_l > bound_l_lower)) {
      if (is_left) {
        bound_l_upper = corner_l;
      } else {
        bound_l_lower = corner_l;
      }
      extra_constraints->emplace_back(left_weight, right_weight, bound_l_lower,
                                      bound_l_upper, left_index, right_index,
                                      add_s, obs_id);
      if (bound_l_upper < bound_l_lower) {
        extra_constraints->blocked_id = obs_id;
        extra_constraints->block_left_index = left_index;
        extra_constraints->block_right_index = right_index;
        AINFO << "AddCornerPoint blocked id: " << obs_id << ", index ["
              << left_index << ", " << right_index << "]";
        return false;
      }
    }
  }
  return true;
}
 
void PathBoundsDeciderUtil::AddCornerBounds(
    const std::vector<SLPolygon>& sl_polygons,
    PathBoundary* const path_boundary) {
  auto* extra_path_bound = path_boundary->mutable_extra_path_bound();
  for (const auto& obs_polygon : sl_polygons) {
    if (obs_polygon.MinS() > path_boundary->back().s) {
      ADEBUG << "obs_polygon.MinS()" << obs_polygon.MinS()
             << "path_boundary->back().s" << path_boundary->back().s;
      break;
    }
    if (obs_polygon.MaxS() < path_boundary->front().s) {
      continue;
    }
    if (obs_polygon.NudgeInfo() == SLPolygon::LEFT_NUDGE) {
      for (size_t i = 0; i < obs_polygon.LeftBoundary().size(); i++) {
        auto pt = obs_polygon.LeftBoundary().at(i);
        bool is_front_pt = i < (obs_polygon.LeftBoundary().size() * 0.5);
        if (!AddCornerPoint(pt, *path_boundary, extra_path_bound, false,
                            obs_polygon.id(), is_front_pt)) {
          break;
        }
      }
      // for (auto pt : obs_polygon.LeftBoundary()) {
      //   if (!AddCornerPoint(pt, *path_boundary, extra_path_bound, false,
      //                       obs_polygon.id())) {
      //     break;
      //   }
      // }
    } else if (obs_polygon.NudgeInfo() == SLPolygon::RIGHT_NUDGE) {
      for (size_t i = 0; i < obs_polygon.RightBoundary().size(); i++) {
        auto pt = obs_polygon.RightBoundary().at(i);
        bool is_front_pt = i > (obs_polygon.RightBoundary().size() * 0.5);
        if (!AddCornerPoint(pt, *path_boundary, extra_path_bound, true,
                            obs_polygon.id(), is_front_pt)) {
          break;
        }
      }
      // for (auto pt : obs_polygon.RightBoundary()) {
      //   if (!AddCornerPoint(pt, *path_boundary, extra_path_bound, true,
      //                       obs_polygon.id())) {
      //     break;
      //   }
      // }
    } else {
      AINFO << "no nugde info, ignore obs: " << obs_polygon.id();
    }
    if (!extra_path_bound->blocked_id.empty()) {
      break;
    }
  }
  // sort(extra_path_bound->begin(), extra_path_bound->end(),
  //      [](const InterPolatedPoint& a, const InterPolatedPoint& b) {
  //        return a.rear_axle_s < b.rear_axle_s;
  //      });
}
 
void PathBoundsDeciderUtil::AddAdcVertexBounds(
    PathBoundary* const path_boundary) {
  auto* adc_vertex_bound = path_boundary->mutable_adc_vertex_bound();
  // front_edge_to_center in Apollo is the front edge to rear center
  double front_edge_to_center = apollo::common::VehicleConfigHelper::GetConfig()
                                    .vehicle_param()
                                    .front_edge_to_center();
  for (size_t i = 0; i < path_boundary->size(); i++) {
    double rear_axle_s = path_boundary->at(i).s - front_edge_to_center;
    if (rear_axle_s <= path_boundary->start_s()) {
      continue;
    }
    size_t left_index = 0;
    size_t right_index = 0;
    double left_weight = 0.0;
    double right_weight = 0.0;
    if (!path_boundary->get_interpolated_s_weight(rear_axle_s, &left_weight,
                                                  &right_weight, &left_index,
                                                  &right_index)) {
      AERROR << "Fail to find vertex path bound point in path boundary: "
             << path_boundary->at(i).s
             << "path boundary start s: " << path_boundary->front().s
             << ", path boundary end s: " << path_boundary->back().s;
      continue;
    }
    adc_vertex_bound->emplace_back(
        left_weight, right_weight, path_boundary->at(i).l_lower.l,
        path_boundary->at(i).l_upper.l, left_index, right_index, rear_axle_s);
  }
  adc_vertex_bound->front_edge_to_center = front_edge_to_center;
}
 
bool PathBoundsDeciderUtil::GetBoundaryFromStaticObstacles(
    const ReferenceLineInfo& reference_line_info,
    std::vector<SLPolygon>* const sl_polygons, const SLState& init_sl_state,
    PathBoundary* const path_boundary, std::string* const blocking_obstacle_id,
    double* const narrowest_width) {
  UpdatePathBoundaryBySLPolygon(reference_line_info, sl_polygons, init_sl_state,
                                path_boundary, blocking_obstacle_id,
                                narrowest_width);
  AddExtraPathBound(*sl_polygons, path_boundary, init_sl_state,
                    blocking_obstacle_id);
  return true;
}
 
double PathBoundsDeciderUtil::GetBufferBetweenADCCenterAndEdge() {
  double adc_half_width =
      VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0;
 
  return (adc_half_width + FLAGS_obstacle_lat_buffer);
}
 
bool PathBoundsDeciderUtil::IsWithinPathDeciderScopeObstacle(
    const Obstacle& obstacle) {
  // Obstacle should be non-virtual.
  if (obstacle.IsVirtual()) {
    return false;
  }
  // Obstacle should not have ignore decision.
  if (obstacle.HasLongitudinalDecision() && obstacle.HasLateralDecision() &&
      obstacle.IsIgnore()) {
    return false;
  }
  // Obstacle should not be moving obstacle.
  if (!obstacle.IsStatic() ||
      obstacle.speed() > FLAGS_static_obstacle_speed_threshold) {
    return false;
  }
  // TODO(jiacheng):
  // Some obstacles are not moving, but only because they are waiting for
  // red light (traffic rule) or because they are blocked by others (social).
  // These obstacles will almost certainly move in the near future and we
  // should not side-pass such obstacles.
 
  return true;
}
 
common::TrajectoryPoint
PathBoundsDeciderUtil::InferFrontAxeCenterFromRearAxeCenter(
    const common::TrajectoryPoint& traj_point) {
  double front_to_rear_axe_distance =
      VehicleConfigHelper::GetConfig().vehicle_param().wheel_base();
  common::TrajectoryPoint ret = traj_point;
  ret.mutable_path_point()->set_x(
      traj_point.path_point().x() +
      front_to_rear_axe_distance * std::cos(traj_point.path_point().theta()));
  ret.mutable_path_point()->set_y(
      traj_point.path_point().y() +
      front_to_rear_axe_distance * std::sin(traj_point.path_point().theta()));
  return ret;
}
 
bool PathBoundsDeciderUtil::GetBoundaryFromSelfLane(
    const ReferenceLineInfo& reference_line_info, const SLState& init_sl_state,
    PathBoundary* const path_bound) {
  // Sanity checks.
  CHECK_NOTNULL(path_bound);
  ACHECK(!path_bound->empty());
  const ReferenceLine& reference_line = reference_line_info.reference_line();
  double adc_lane_width =
      GetADCLaneWidth(reference_line, init_sl_state.first[0]);
  // Go through every point, update the boundary based on lane info and
  // ADC's position.
  double past_lane_left_width = adc_lane_width / 2.0;
  double past_lane_right_width = adc_lane_width / 2.0;
  int path_blocked_idx = -1;
  for (size_t i = 0; i < path_bound->size(); ++i) {
    double curr_s = (*path_bound)[i].s;
    // 1. Get the current lane width at current point.
    double curr_lane_left_width = 0.0;
    double curr_lane_right_width = 0.0;
    double offset_to_lane_center = 0.0;
    if (!reference_line.GetLaneWidth(curr_s, &curr_lane_left_width,
                                     &curr_lane_right_width)) {
      AWARN << "Failed to get lane width at s = " << curr_s;
      curr_lane_left_width = past_lane_left_width;
      curr_lane_right_width = past_lane_right_width;
    } else {
      reference_line.GetOffsetToMap(curr_s, &offset_to_lane_center);
      curr_lane_left_width += offset_to_lane_center;
      curr_lane_right_width -= offset_to_lane_center;
      past_lane_left_width = curr_lane_left_width;
      past_lane_right_width = curr_lane_right_width;
    }
 
    // 3. Calculate the proper boundary based on lane-width, ADC's position,
    //    and ADC's velocity.
    double offset_to_map = 0.0;
    reference_line.GetOffsetToMap(curr_s, &offset_to_map);
 
    double curr_left_bound = 0.0;
    double curr_right_bound = 0.0;
    curr_left_bound = curr_lane_left_width - offset_to_map;
    curr_right_bound = -curr_lane_right_width - offset_to_map;
    // 4. Update the boundary.
    if (!UpdatePathBoundaryWithBuffer(curr_left_bound, curr_right_bound,
                                      BoundType::LANE, BoundType::LANE, "", "",
                                      &path_bound->at(i))) {
      path_blocked_idx = static_cast<int>(i);
    }
    if (path_blocked_idx != -1) {
      break;
    }
  }
 
  PathBoundsDeciderUtil::TrimPathBounds(path_blocked_idx, path_bound);
 
  return true;
}
 
bool PathBoundsDeciderUtil::GetBoundaryFromRoad(
    const ReferenceLineInfo& reference_line_info, const SLState& init_sl_state,
    PathBoundary* const path_bound) {
  // Sanity checks.
  CHECK_NOTNULL(path_bound);
  ACHECK(!path_bound->empty());
  const ReferenceLine& reference_line = reference_line_info.reference_line();
  double adc_lane_width =
      GetADCLaneWidth(reference_line, init_sl_state.first[0]);
  // Go through every point, update the boudnary based on the road boundary.
  double past_road_left_width = adc_lane_width / 2.0;
  double past_road_right_width = adc_lane_width / 2.0;
  int path_blocked_idx = -1;
  for (size_t i = 0; i < path_bound->size(); ++i) {
    // 1. Get road boundary.
    double curr_s = (*path_bound)[i].s;
    double curr_road_left_width = 0.0;
    double curr_road_right_width = 0.0;
    if (!reference_line.GetRoadWidth(curr_s, &curr_road_left_width,
                                     &curr_road_right_width)) {
      AWARN << "Failed to get lane width at s = " << curr_s;
      curr_road_left_width = past_road_left_width;
      curr_road_right_width = past_road_right_width;
    }
 
    past_road_left_width = curr_road_left_width;
    past_road_right_width = curr_road_right_width;
 
    double curr_left_bound = curr_road_left_width;
    double curr_right_bound = -curr_road_right_width;
    ADEBUG << "At s = " << curr_s
           << ", left road bound = " << curr_road_left_width
           << ", right road bound = " << curr_road_right_width;
 
    // 2. Update into path_bound.
    if (!UpdatePathBoundaryWithBuffer(curr_left_bound, curr_right_bound,
                                      BoundType::ROAD, BoundType::ROAD, "", "",
                                      &path_bound->at(i))) {
      path_blocked_idx = static_cast<int>(i);
    }
    if (path_blocked_idx != -1) {
      break;
    }
  }
  AINFO << "path_blocked_idx: " << path_blocked_idx;
  TrimPathBounds(path_blocked_idx, path_bound);
  return true;
}
 
bool PathBoundsDeciderUtil::ExtendBoundaryByADC(
    const ReferenceLineInfo& reference_line_info, const SLState& init_sl_state,
    const double extend_buffer, PathBoundary* const path_bound) {
  double adc_l_to_lane_center = init_sl_state.second[0];
  static constexpr double kMaxLateralAccelerations = 1.5;
 
  double ADC_speed_buffer = (init_sl_state.second[1] > 0 ? 1.0 : -1.0) *
                            init_sl_state.second[1] * init_sl_state.second[1] /
                            kMaxLateralAccelerations / 2.0;
  double adc_half_width =
      VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0;
  double left_bound_adc =
      std::fmax(adc_l_to_lane_center, adc_l_to_lane_center + ADC_speed_buffer) +
      adc_half_width + extend_buffer;
  double right_bound_adc =
      std::fmin(adc_l_to_lane_center, adc_l_to_lane_center + ADC_speed_buffer) -
      adc_half_width - extend_buffer;
 
  static constexpr double kEpsilon = 0.05;
  for (size_t i = 0; i < path_bound->size(); ++i) {
    double road_left_width = std::fabs(left_bound_adc) + kEpsilon;
    double road_right_width = std::fabs(right_bound_adc) + kEpsilon;
    reference_line_info.reference_line().GetRoadWidth(
        (*path_bound)[i].s, &road_left_width, &road_right_width);
    double left_bound_road = road_left_width - adc_half_width;
    double right_bound_road = -road_right_width + adc_half_width;
 
    if (left_bound_adc > (*path_bound)[i].l_upper.l) {
      (*path_bound)[i].l_upper.l =
          std::max(std::min(left_bound_adc, left_bound_road),
                   (*path_bound)[i].l_upper.l);
      (*path_bound)[i].l_upper.type = BoundType::ADC;
      (*path_bound)[i].l_upper.id = "adc";
    }
    if (right_bound_adc < (*path_bound)[i].l_lower.l) {
      (*path_bound)[i].l_lower.l =
          std::min(std::max(right_bound_adc, right_bound_road),
                   (*path_bound)[i].l_lower.l);
      (*path_bound)[i].l_lower.type = BoundType::ADC;
      (*path_bound)[i].l_lower.id = "adc";
    }
  }
  return true;
}
 
void PathBoundsDeciderUtil::ConvertBoundarySAxisFromLaneCenterToRefLine(
    const ReferenceLineInfo& reference_line_info,
    PathBoundary* const path_bound) {
  const ReferenceLine& reference_line = reference_line_info.reference_line();
  for (size_t i = 0; i < path_bound->size(); ++i) {
    // 1. Get road boundary.
    double curr_s = (*path_bound)[i].s;
    double refline_offset_to_lane_center = 0.0;
    reference_line.GetOffsetToMap(curr_s, &refline_offset_to_lane_center);
    (*path_bound)[i].l_lower.l -= refline_offset_to_lane_center;
    (*path_bound)[i].l_upper.l -= refline_offset_to_lane_center;
  }
}
 
int PathBoundsDeciderUtil::IsPointWithinPathBound(
    const ReferenceLineInfo& reference_line_info, const double x,
    const double y, const PathBound& path_bound) {
  common::SLPoint point_sl;
  reference_line_info.reference_line().XYToSL({x, y}, &point_sl);
  if (point_sl.s() > path_bound.back().s ||
      point_sl.s() <
          path_bound.front().s - FLAGS_path_bounds_decider_resolution * 2) {
    ADEBUG << "Longitudinally outside the boundary.";
    return -1;
  }
  int idx_after = 0;
  while (idx_after < static_cast<int>(path_bound.size()) &&
         path_bound[idx_after].s < point_sl.s()) {
    ++idx_after;
  }
  ADEBUG << "The idx_after = " << idx_after;
  ADEBUG << "The boundary is: "
         << "[" << path_bound[idx_after].l_lower.l << ", "
         << path_bound[idx_after].l_upper.l << "].";
  ADEBUG << "The point is at: " << point_sl.l();
  int idx_before = idx_after - 1;
  if (path_bound[idx_before].l_lower.l <= point_sl.l() &&
      path_bound[idx_before].l_upper.l >= point_sl.l() &&
      path_bound[idx_after].l_lower.l <= point_sl.l() &&
      path_bound[idx_after].l_upper.l >= point_sl.l()) {
    return idx_after;
  }
  ADEBUG << "Laterally outside the boundary.";
  return -1;
}
 
bool PathBoundsDeciderUtil::RelaxBoundaryPoint(
    PathBoundPoint* const path_bound_point, bool is_left, double init_l,
    double heading, double delta_s, double init_frenet_kappa,
    double min_radius) {
  bool is_success = false;
  double protective_restrict = 0.0;
  double relax_constraint = 0.0;
  double radius = 1.0 / std::fabs(init_frenet_kappa);
  double old_buffer = FLAGS_obstacle_lat_buffer;
  double new_buffer = std::max(FLAGS_ego_front_slack_buffer,
                               FLAGS_nonstatic_obstacle_nudge_l_buffer);
  if (is_left) {
    if (init_frenet_kappa > 0 && heading < 0) {
      is_success = util::left_arc_bound_with_heading_with_reverse_kappa(
          delta_s, min_radius, heading, init_frenet_kappa,
          &protective_restrict);
    } else {
      is_success = util::left_arc_bound_with_heading(delta_s, radius, heading,
                                                     &protective_restrict);
    }
 
    relax_constraint =
        std::max(path_bound_point->l_upper.l, init_l + protective_restrict);
    AINFO << "init_pt_l: " << init_l
          << ", left_bound: " << path_bound_point->l_upper.l
          << ",  diff s: " << delta_s << ", radius: " << radius
          << ", protective_restrict: " << protective_restrict
          << ", left_obs_constraint: " << relax_constraint;
 
    if (path_bound_point->is_nudge_bound[LEFT_INDEX]) {
      old_buffer = std::max(FLAGS_obstacle_lat_buffer,
                            FLAGS_static_obstacle_nudge_l_buffer);
    }
 
    relax_constraint =
        std::min(path_bound_point->l_upper.l + old_buffer - new_buffer,
                 relax_constraint);
    AINFO << "left_obs_constraint: " << relax_constraint;
    path_bound_point->l_upper.l = relax_constraint;
  } else {
    if (init_frenet_kappa < 0 && heading > 0) {
      is_success = util::right_arc_bound_with_heading_with_reverse_kappa(
          delta_s, min_radius, heading, init_frenet_kappa,
          &protective_restrict);
    } else {
      is_success = util::right_arc_bound_with_heading(delta_s, radius, heading,
                                                      &protective_restrict);
    }
    relax_constraint =
        std::min(path_bound_point->l_lower.l, init_l + protective_restrict);
    AINFO << "init_pt_l: " << init_l
          << ", right_bound: " << path_bound_point->l_lower.l
          << ",  diff s: " << delta_s << ", radius: " << radius
          << ", protective_restrict: " << protective_restrict
          << ", right_obs_constraint: " << relax_constraint;
 
    if (path_bound_point->is_nudge_bound[RIGHT_INDEX]) {
      old_buffer = std::max(FLAGS_obstacle_lat_buffer,
                            FLAGS_static_obstacle_nudge_l_buffer);
    }
 
    relax_constraint =
        std::max(path_bound_point->l_lower.l - old_buffer + new_buffer,
                 relax_constraint);
    AINFO << "right_obs_constraint: " << relax_constraint;
    path_bound_point->l_lower.l = relax_constraint;
  }
  return is_success;
}
 
bool PathBoundsDeciderUtil::RelaxEgoPathBoundary(
    PathBoundary* const path_boundary, const SLState& init_sl_state) {
  if (path_boundary->size() < 2) {
    AINFO << "path_boundary size = 0, return.";
    return false;
  }
  const auto& veh_param =
      common::VehicleConfigHelper::GetConfig().vehicle_param();
  double min_radius =
      std::max(veh_param.min_turn_radius(),
               std::tan(veh_param.max_steer_angle() / veh_param.steer_ratio()) /
                   veh_param.wheel_base());
 
  double init_frenet_kappa =
      init_sl_state.second[2] /
      std::pow(1 + std::pow(init_sl_state.second[1], 2), 1.5);
  if (init_frenet_kappa < 0) {
    init_frenet_kappa = std::min(
        -1.0 / (min_radius + FLAGS_relax_ego_radius_buffer), init_frenet_kappa);
  } else {
    init_frenet_kappa = std::max(
        1.0 / (min_radius + FLAGS_relax_ego_radius_buffer), init_frenet_kappa);
  }
 
  const auto& init_pt = path_boundary->at(0);
  double init_frenet_heading =
      common::math::Vec2d(1.0, init_sl_state.second[1]).Angle();
  double init_pt_l = init_sl_state.second[0];
  bool left_calculate_success = true;
  bool right_calculate_success = true;
  for (size_t i = 1; i < path_boundary->size(); ++i) {
    auto& left_bound = path_boundary->at(i).l_upper;
    auto& right_bound = path_boundary->at(i).l_lower;
    double delta_s = path_boundary->at(i).s - init_pt.s;
    if (delta_s > FLAGS_relax_path_s_threshold) {
      left_calculate_success = false;
      right_calculate_success = false;
      break;
    }
    if (left_calculate_success &&
        (left_bound.type == BoundType::OBSTACLE ||
         path_boundary->at(i).is_nudge_bound[LEFT_INDEX])) {
      left_calculate_success = RelaxBoundaryPoint(
          &path_boundary->at(i), true, init_pt_l, init_frenet_heading, delta_s,
          init_frenet_kappa, min_radius);
    }
    if (right_calculate_success &&
        (right_bound.type == BoundType::OBSTACLE ||
         path_boundary->at(i).is_nudge_bound[RIGHT_INDEX])) {
      right_calculate_success = RelaxBoundaryPoint(
          &path_boundary->at(i), false, init_pt_l, init_frenet_heading, delta_s,
          init_frenet_kappa, min_radius);
    }
    if (!left_calculate_success && !right_calculate_success) {
      break;
    }
  }
  return true;
}
 
bool PathBoundsDeciderUtil::RelaxObsCornerBoundary(
    PathBoundary* const path_boundary, const SLState& init_sl_state) {
  if (path_boundary->size() < 2) {
    AINFO << "path_boundary size = 0, return.";
    return false;
  }
  const auto& veh_param =
      common::VehicleConfigHelper::GetConfig().vehicle_param();
  double min_radius =
      std::max(veh_param.min_turn_radius(),
               std::tan(veh_param.max_steer_angle() / veh_param.steer_ratio()) /
                   veh_param.wheel_base());
 
  double init_frenet_kappa =
      std::fabs(init_sl_state.second[2] /
                std::pow(1 + std::pow(init_sl_state.second[1], 2), 1.5));
  if (init_frenet_kappa < 0) {
    init_frenet_kappa = std::min(
        -1.0 / (min_radius + FLAGS_relax_ego_radius_buffer), init_frenet_kappa);
  } else {
    init_frenet_kappa = std::max(
        1.0 / (min_radius + FLAGS_relax_ego_radius_buffer), init_frenet_kappa);
  }
  double kappa_radius = 1.0 / std::fabs(init_frenet_kappa);
 
  const auto& init_pt = path_boundary->at(0);
  double init_frenet_heading =
      common::math::Vec2d(1.0, init_sl_state.second[1]).Angle();
  double init_pt_l = init_sl_state.second[0];
  bool left_calculate_success = true;
  bool right_calculate_success = true;
  double new_buffer = std::max(FLAGS_ego_front_slack_buffer,
                               FLAGS_nonstatic_obstacle_nudge_l_buffer);
  for (auto& extra_path_bound : *(path_boundary->mutable_extra_path_bound())) {
    double delta_s = extra_path_bound.rear_axle_s - init_pt.s;
    if (delta_s > FLAGS_relax_path_s_threshold) {
      AINFO << "RelaxObsCornerBoundary delta_s: " << delta_s << " break";
      break;
    }
    AINFO << "RelaxObsCornerBoundary check delta_s: " << delta_s;
 
    // calculate the left side
    if (left_calculate_success) {
      double left_protective_restrict = 0.0;
      if (init_frenet_kappa > 0 && init_frenet_heading < 0) {
        left_calculate_success =
            util::left_arc_bound_with_heading_with_reverse_kappa(
                delta_s, min_radius, init_frenet_heading, init_frenet_kappa,
                &left_protective_restrict);
      } else {
        left_calculate_success = util::left_arc_bound_with_heading(
            delta_s, kappa_radius, init_frenet_heading,
            &left_protective_restrict);
      }
 
      double left_obs_constraint = std::max(
          extra_path_bound.upper_bound, init_pt_l + left_protective_restrict);
      AINFO << "extra_path_bound, init_pt_l: " << init_pt_l
            << ", left_bound: " << extra_path_bound.upper_bound
            << ",  diff s: " << delta_s << ", min_radius: " << min_radius
            << ", init_frenet_heading: " << init_frenet_heading
            << ", protective_restrict: " << left_protective_restrict
            << ", left_obs_constraint: " << left_obs_constraint;
      left_obs_constraint = std::min(
          extra_path_bound.upper_bound + FLAGS_obstacle_lat_buffer - new_buffer,
          left_obs_constraint);
      AINFO << "extra_path_bound left_obs_constraint: " << left_obs_constraint;
      extra_path_bound.upper_bound = left_obs_constraint;
    }
 
    if (right_calculate_success) {
      // calculate the right side
      double right_protective_restrict = 0.0;
      if (init_frenet_kappa < 0 && init_frenet_heading > 0) {
        right_calculate_success =
            util::right_arc_bound_with_heading_with_reverse_kappa(
                delta_s, min_radius, init_frenet_heading, init_frenet_kappa,
                &right_protective_restrict);
      } else {
        right_calculate_success = util::right_arc_bound_with_heading(
            delta_s, kappa_radius, init_frenet_heading,
            &right_protective_restrict);
      }
 
      double right_obs_constraint = std::min(
          extra_path_bound.lower_bound, init_pt_l + right_protective_restrict);
      AINFO << "extra_path_bound, init_pt_l: " << init_pt_l
            << ", right_bound: " << extra_path_bound.lower_bound
            << ",  diff s: " << delta_s << ", min_radius: " << min_radius
            << ", init_frenet_heading: " << init_frenet_heading
            << ", protective_restrict: " << right_protective_restrict
            << ", right_obs_constraint: " << right_obs_constraint;
      right_obs_constraint = std::max(
          extra_path_bound.lower_bound - FLAGS_obstacle_lat_buffer + new_buffer,
          right_obs_constraint);
      AINFO << "extra_path_bound, right_obs_constraint: "
            << right_obs_constraint;
      extra_path_bound.lower_bound = right_obs_constraint;
    }
 
    if (!left_calculate_success && !right_calculate_success) {
      break;
    }
  }
  return true;
}
 
bool PathBoundsDeciderUtil::UpdateBlockInfoWithObsCornerBoundary(
    PathBoundary* const path_boundary, std::string* const blocked_id) {
  if (path_boundary->extra_path_bound().blocked_id.empty()) {
    AINFO << "UpdateBlockInfoWithObsCornerBoundary, block id empty";
    return true;
  }
  auto* extra_path_bound = path_boundary->mutable_extra_path_bound();
  size_t path_boundary_block_index = extra_path_bound->block_right_index;
 
  // trim path boundary width corner constraints block obstacle id
  *blocked_id = extra_path_bound->blocked_id;
  TrimPathBounds(path_boundary_block_index, path_boundary);
  AINFO << "update block id: " << *blocked_id
        << ", path_boundary size: " << path_boundary->size();
 
  if (path_boundary->size() < 1) {
    extra_path_bound->clear();
    AERROR << "UpdateBlockInfoWithObsCornerBoundary, new_path_index < 1";
    return false;
  }
 
  size_t new_path_index = path_boundary->size() - 1;
  while (extra_path_bound->size() > 0 &&
         (extra_path_bound->back().id == *blocked_id ||
          extra_path_bound->back().right_index > new_path_index)) {
    AINFO << "remove extra_path_bound: s "
          << extra_path_bound->back().rear_axle_s << ", index ["
          << extra_path_bound->back().left_index << ", "
          << extra_path_bound->back().right_index << "]";
    extra_path_bound->pop_back();
  }
  return false;
}
 
bool PathBoundsDeciderUtil::AddExtraPathBound(
    const std::vector<SLPolygon>& sl_polygons,
    PathBoundary* const path_boundary, const SLState& init_sl_state,
    std::string* const blocked_id) {
  RelaxEgoPathBoundary(path_boundary, init_sl_state);
  if (FLAGS_enable_corner_constraint) {
    AddCornerBounds(sl_polygons, path_boundary);
    RelaxObsCornerBoundary(path_boundary, init_sl_state);
    UpdateBlockInfoWithObsCornerBoundary(path_boundary, blocked_id);
  }
  if (FLAGS_enable_adc_vertex_constraint) {
    AddAdcVertexBounds(path_boundary);
  }
  return true;
}
 
}  // namespace planning
}  // namespace apollo