Planning: set lateral buffer for collision checker

Author: kechxu

modules/common/math/box2d.cc

@@ -335,6 +335,12 @@ void Box2d::LongitudinalExtend(const double extension_length) {
   InitCorners();
 }
 
+void Box2d::LateralExtend(const double extension_length) {
+  width_ += extension_length;
+  half_width_ += extension_length / 2.0;
+  InitCorners();
+}
+
 std::string Box2d::DebugString() const {
   return util::StrCat("box2d ( center = ", center_.DebugString(),
                       "  heading = ", heading_, "  length = ", length_,

modules/common/math/box2d.h

@@ -238,6 +238,8 @@ class Box2d {
    */
   void LongitudinalExtend(const double extension_length);
 
+  void LateralExtend(const double extension_length);
+
   /**
    * @brief Gets a human-readable description of the box
    * @return A debug-string

modules/planning/common/planning_gflags.cc

@@ -303,6 +303,8 @@ DEFINE_double(min_velocity_sample_gap, 1.0,
               "Minimal sampling gap for velocity");
 DEFINE_double(lon_collision_buffer, 1.0,
               "The longitudinal buffer to keep distance to other vehicles");
+DEFINE_double(lat_collision_buffer, 0.2,
+              "The lateral buffer to keep distance to other vehicles");
 DEFINE_uint32(num_sample_follow_per_timestamp, 3,
              "The number of sample points for each timestamp to follow");
 

modules/planning/common/planning_gflags.h

@@ -161,6 +161,7 @@ DECLARE_bool(enable_backup_trajectory);
 DECLARE_double(backup_trajectory_cost);
 DECLARE_double(min_velocity_sample_gap);
 DECLARE_double(lon_collision_buffer);
+DECLARE_double(lat_collision_buffer);
 DECLARE_uint32(num_sample_follow_per_timestamp);
 
 // Lattice Evaluate Parameters

modules/planning/constraint_checker/collision_checker.cc

@@ -108,6 +108,7 @@ void CollisionChecker::BuildPredictedEnvironment(
       TrajectoryPoint point = obstacle->GetPointAtTime(relative_time);
       Box2d box = obstacle->GetBoundingBox(point);
       box.LongitudinalExtend(2.0 * FLAGS_lon_collision_buffer);
+      box.LateralExtend(2.0 * FLAGS_lat_collision_buffer);
       predicted_env.push_back(std::move(box));
     }
     predicted_bounding_rectangles_.push_back(std::move(predicted_env));