planning: abort change lane in case fast backward vehicles block change lane region.

modules/planning/integration_tests/sunnyvale_big_loop_test.cc

@@ -315,6 +315,19 @@ TEST_F(SunnyvaleBigLoopTest, traffic_light_green) {
   FLAGS_enable_prediction = true;
 }
 
+TEST_F(SunnyvaleBigLoopTest, abort_change_lane_for_fast_back_vehicle) {
+  std::string seq_num = "11";
+  FLAGS_enable_traffic_light = true;
+  FLAGS_enable_keep_clear = false;
+
+  FLAGS_test_routing_response_file = seq_num + "_routing.pb.txt";
+  FLAGS_test_localization_file = seq_num + "_localization.pb.txt";
+  FLAGS_test_chassis_file = seq_num + "_chassis.pb.txt";
+  FLAGS_test_prediction_file = seq_num + "_prediction.pb.txt";
+  PlanningTestBase::SetUp();
+  RUN_GOLDEN_TEST(0);
+}
+
 }  // namespace planning
 }  // namespace apollo
 

modules/planning/tasks/speed_decider/speed_decider.cc

@@ -203,6 +203,11 @@ Status SpeedDecider::MakeObjectDecision(
             path_obstacle->AddLongitudinalDecision("dp_st_graph/cross",
                                                    stop_decision);
           }
+          const std::string msg =
+              "Failed to find a solution for crossing obstacle:" +
+              obstacle->Id();
+          AERROR << msg;
+          return Status(ErrorCode::PLANNING_ERROR, msg);
         }
         break;
       default:

modules/planning/testdata/sunnyvale_big_loop_test/11_chassis.pb.txt

+engine_started: true
+engine_rpm: 0
+speed_mps: 15.675
+odometer_m: 0
+fuel_range_m: 0
+throttle_percentage: 26.564432
+brake_percentage: 14.959945
+steering_percentage: -1.2978723
+steering_torque_nm: -2
+parking_brake: false
+driving_mode: COMPLETE_AUTO_DRIVE
+error_code: NO_ERROR
+gear_location: GEAR_DRIVE
+header {
+  timestamp_sec: 1518648377.319916
+  module_name: "chassis"
+  sequence_num: 247176
+}
+signal {
+  turn_signal: TURN_NONE
+  horn: false
+}
+chassis_gps {
+  latitude: 37.416343999999995
+  longitude: -122.01127466666665
+  gps_valid: true
+  year: 18
+  month: 2
+  day: 14
+  hours: 22
+  minutes: 46
+  seconds: 16
+  compass_direction: 270
+  pdop: 1.2000000000000002
+  is_gps_fault: false
+  is_inferred: false
+  altitude: -42.5
+  heading: 280.79
+  hdop: 0.60000000000000009
+  vdop: 1
+  quality: FIX_3D
+  num_satellites: 15
+  gps_speed: 15.6464
+}
+engage_advice {
+  advice: READY_TO_ENGAGE
+}

modules/planning/testdata/sunnyvale_big_loop_test/11_localization.pb.txt

+header {
+  timestamp_sec: 1518648377.318433
+}
+pose {
+  position {
+    x: 587484.83465911169
+    y: 4141516.1493382631
+    z: -31.054244682315154
+  }
+  orientation {
+    qx: -0.040942574445715293
+    qy: -0.014721659937242887
+    qz: 0.64633749625859693
+    qw: 0.76181022522450914
+  }
+  linear_velocity {
+    x: -15.653488587347258
+    y: 2.7232072309594466
+    z: 0.0389828765207829
+  }
+  linear_acceleration {
+    x: -0.081311947742334745
+    y: -0.33353668174305978
+    z: -0.19380108962625364
+  }
+  angular_velocity {
+    x: 0.026114438606160528
+    y: -0.021704208479890529
+    z: -0.0032407417076273865
+  }
+  heading: 2.9792000682148903
+  linear_acceleration_vrf {
+    x: -0.635143369436264
+    y: -0.75582414865493774
+    z: 9.56149771809578
+  }
+  angular_velocity_vrf {
+    x: -0.017016663098035602
+    y: -0.028918964590953212
+    z: -0.0061372339261415885
+  }
+  euler_angles {
+    x: -0.08150146416476374
+    y: 0.030601559067132196
+    z: 1.4084037414199937
+  }
+}
+uncertainty {
+  position_std_dev {
+    x: 0.040671955381023875
+    y: 0.018467040459102767
+    z: 0.01216545095810509
+  }
+  orientation_std_dev {
+    x: 0.076589186909105891
+    y: 0.076741187330964841
+    z: 0.05053614958913609
+  }
+  linear_velocity_std_dev {
+    x: 0.027532722769003766
+    y: 0.01751289443884721
+    z: 0.0061467432555478117
+  }
+}
+measurement_time: 1518648377.3248789

modules/planning/testdata/sunnyvale_big_loop_test/11_routing.pb.txt

+header {
+  timestamp_sec: 1518718246.4781277
+  module_name: "routing"
+  sequence_num: 1
+}
+road {
+  id: "1771"
+  passage {
+    segment {
+      id: "1771_1_-3"
+      start_s: 32.241981920357361
+      end_s: 45.6667
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1415"
+  passage {
+    segment {
+      id: "1415_1_-3"
+      start_s: 0
+      end_s: 12.6104
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1416"
+  passage {
+    segment {
+      id: "1416_1_-3"
+      start_s: 0
+      end_s: 37.2856
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1422"
+  passage {
+    segment {
+      id: "1422_1_-3"
+      start_s: 0
+      end_s: 11.7449
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1423"
+  passage {
+    segment {
+      id: "1423_1_-3"
+      start_s: 0
+      end_s: 7.71293
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1425"
+  passage {
+    segment {
+      id: "1425_1_-3"
+      start_s: 0
+      end_s: 11.7655
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1426"
+  passage {
+    segment {
+      id: "1426_1_-3"
+      start_s: 0
+      end_s: 54.4931
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1430"
+  passage {
+    segment {
+      id: "1430_1_-3"
+      start_s: 0
+      end_s: 14.2715
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1431"
+  passage {
+    segment {
+      id: "1431_1_-3"
+      start_s: 0
+      end_s: 35.883
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1436"
+  passage {
+    segment {
+      id: "1436_1_-3"
+      start_s: 0
+      end_s: 10.9945
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1781"
+  passage {
+    segment {
+      id: "1781_1_-3"
+      start_s: 0
+      end_s: 6.07775
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "822"
+  passage {
+    segment {
+      id: "822_1_-3"
+      start_s: 0
+      end_s: 7.23053
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1441"
+  passage {
+    segment {
+      id: "1441_1_-3"
+      start_s: 0
+      end_s: 10.7866
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1440"
+  passage {
+    segment {
+      id: "1440_1_-3"
+      start_s: 0
+      end_s: 39.7135
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "50a"
+  passage {
+    segment {
+      id: "50a_1_-1"
+      start_s: 0
+      end_s: 41.1822
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2421"
+  passage {
+    segment {
+      id: "2421_1_-1"
+      start_s: 0
+      end_s: 1.62432
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2622"
+  passage {
+    segment {
+      id: "2622_1_-1"
+      start_s: 0
+      end_s: 8.51337
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2623"
+  passage {
+    segment {
+      id: "2623_1_-1"
+      start_s: 0
+      end_s: 60.4448
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2628"
+  passage {
+    segment {
+      id: "2628_1_-1"
+      start_s: 0
+      end_s: 11.0946
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2629"
+  passage {
+    segment {
+      id: "2629_1_-1"
+      start_s: 0
+      end_s: 34.4977
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2631"
+  passage {
+    segment {
+      id: "2631_1_-1"
+      start_s: 0
+      end_s: 11.5307
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2632"
+  passage {
+    segment {
+      id: "2632_1_-1"
+      start_s: 0
+      end_s: 79.7525
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2634"
+  passage {
+    segment {
+      id: "2634_1_-1"
+      start_s: 0
+      end_s: 11.1465
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2635"
+  passage {
+    segment {
+      id: "2635_1_-1"
+      start_s: 0
+      end_s: 87.7161
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "144"
+  passage {
+    segment {
+      id: "144_1_-1"
+      start_s: 0
+      end_s: 46.7371
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "140"
+  passage {
+    segment {
+      id: "140_1_-1"
+      start_s: 0
+      end_s: 56.3946
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2644"
+  passage {
+    segment {
+      id: "2644_1_-1"
+      start_s: 0
+      end_s: 12.9006
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2645"
+  passage {
+    segment {
+      id: "2645_1_-1"
+      start_s: 0
+      end_s: 11.2649
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2647"
+  passage {
+    segment {
+      id: "2647_1_-1"
+      start_s: 0
+      end_s: 11.7247
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2648"
+  passage {
+    segment {
+      id: "2648_1_-1"
+      start_s: 0
+      end_s: 10.7638
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2650"
+  passage {
+    segment {
+      id: "2650_1_-1"
+      start_s: 0
+      end_s: 10.2608
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2651"
+  passage {
+    segment {
+      id: "2651_1_-1"
+      start_s: 0
+      end_s: 10.0043
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2659"
+  passage {
+    segment {
+      id: "2659_1_-1"
+      start_s: 0
+      end_s: 10.8523
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2658"
+  passage {
+    segment {
+      id: "2658_1_-1"
+      start_s: 0
+      end_s: 10.5482
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "142"
+  passage {
+    segment {
+      id: "142_1_-1"
+      start_s: 0
+      end_s: 17.1695
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "141"
+  passage {
+    segment {
+      id: "141_1_-1"
+      start_s: 0
+      end_s: 41.9457
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1954"
+  passage {
+    segment {
+      id: "1954_1_-1"
+      start_s: 0
+      end_s: 9.41719
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "224a"
+  passage {
+    segment {
+      id: "224a_1_-1"
+      start_s: 0
+      end_s: 42.7685
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "8"
+  passage {
+    segment {
+      id: "8_1_-1"
+      start_s: 0
+      end_s: 10.9817
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2448"
+  passage {
+    segment {
+      id: "2448_1_-1"
+      start_s: 0
+      end_s: 60.7203
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "3"
+  passage {
+    segment {
+      id: "3_1_-1"
+      start_s: 0
+      end_s: 16.2251
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1948"
+  passage {
+    segment {
+      id: "1948_1_-1"
+      start_s: 0
+      end_s: 12.3247
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1949"
+  passage {
+    segment {
+      id: "1949_1_-1"
+      start_s: 0
+      end_s: 113.652
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1940"
+  passage {
+    segment {
+      id: "1940_1_-1"
+      start_s: 0
+      end_s: 14.5523
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "1941"
+  passage {
+    segment {
+      id: "1941_1_-1"
+      start_s: 0
+      end_s: 16.6837
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "154"
+  passage {
+    segment {
+      id: "154_1_-1"
+      start_s: 0
+      end_s: 29.6923
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "4"
+  passage {
+    segment {
+      id: "4_1_-1"
+      start_s: 0
+      end_s: 52.1101
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "311a"
+  passage {
+    segment {
+      id: "311a_1_-1"
+      start_s: 0
+      end_s: 36.8369
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "52"
+  passage {
+    segment {
+      id: "52_1_-1"
+      start_s: 0
+      end_s: 5.90927
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2579"
+  passage {
+    segment {
+      id: "2579_1_-1"
+      start_s: 0
+      end_s: 23.4018
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "57"
+  passage {
+    segment {
+      id: "57_1_-2"
+      start_s: 0
+      end_s: 3.78832
+    }
+    can_exit: true
+    change_lane_type: FORWARD
+  }
+}
+road {
+  id: "2147"
+  passage {
+    segment {
+      id: "2147_1_-2"
+      start_s: 0
+      end_s: 11.9045
+    }
+    segment {
+      id: "2146_1_-2"
+      start_s: 0
+      end_s: 25.9879
+    }
+    segment {
+      id: "1851_1_-2"
+      start_s: 0
+      end_s: 91.5222
+    }
+    segment {
+      id: "1862_1_-2"
+      start_s: 0
+      end_s: 11.4315
+    }
+    segment {
+      id: "1861_1_-2"
+      start_s: 0
+      end_s: 29.0621
+    }
+    segment {
+      id: "1860_1_-2"
+      start_s: 0
+      end_s: 10.9588
+    }
+    segment {
+      id: "1859_1_-2"
+      start_s: 0
+      end_s: 75.3919
+    }
+    segment {
+      id: "1856_1_-2"
+      start_s: 0
+      end_s: 31.7363
+    }
+    segment {
+      id: "1855_1_-2"
+      start_s: 0
+      end_s: 68.4178
+    }
+    segment {
+      id: "1854_1_-2"
+      start_s: 0
+      end_s: 39.9753
+    }
+    segment {
+      id: "1853_1_-2"
+      start_s: 0
+      end_s: 10.0026
+    }
+    segment {
+      id: "1852_1_-2"
+      start_s: 0
+      end_s: 29.6248
+    }
+    segment {
+      id: "1850_1_-2"
+      start_s: 0
+      end_s: 40.4842
+    }
+    segment {
+      id: "1270_1_-2"
+      start_s: 0
+      end_s: 16.9255
+    }
+    segment {
+      id: "1848_1_-2"
+      start_s: 0
+      end_s: 9.68808
+    }
+    segment {
+      id: "1847_1_-2"
+      start_s: 0
+      end_s: 18.7645
+    }
+    segment {
+      id: "695_1_-2"
+      start_s: 0
+      end_s: 11.8026
+    }
+    segment {
+      id: "1844_1_-2"
+      start_s: 0
+      end_s: 17.8526
+    }
+    segment {
+      id: "1842_1_-2"
+      start_s: 0
+      end_s: 14.8271
+    }
+    segment {
+      id: "687_1_-2"
+      start_s: 0
+      end_s: 75.707
+    }
+    segment {
+      id: "1838_1_-2"
+      start_s: 0
+      end_s: 9.72376
+    }
+    segment {
+      id: "1837_1_-2"
+      start_s: 0
+      end_s: 11.0742
+    }
+    segment {
+      id: "2193_1_-2"
+      start_s: 0
+      end_s: 11.5568
+    }
+    can_exit: false
+    change_lane_type: LEFT
+  }
+  passage {
+    segment {
+      id: "2147_1_-1"
+      start_s: 0
+      end_s: 11.9317
+    }
+    segment {
+      id: "2146_1_-1"
+      start_s: 0
+      end_s: 25.9902
+    }
+    segment {
+      id: "1851_1_-1"
+      start_s: 0
+      end_s: 91.4233
+    }
+    segment {
+      id: "1862_1_-1"
+      start_s: 0
+      end_s: 11.5187
+    }
+    segment {
+      id: "1861_1_-1"
+      start_s: 0
+      end_s: 28.9878
+    }
+    segment {
+      id: "1860_1_-1"
+      start_s: 0
+      end_s: 11.0053
+    }
+    segment {
+      id: "1859_1_-1"
+      start_s: 0
+      end_s: 75.3014
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