feat(run_out_module): new params for run out, add ego cut lane (autow…

…arefoundation#935) * new params for run out Signed-off-by: Daniel Sanchez <[email protected]> * rename param Signed-off-by: Daniel Sanchez <[email protected]> * update description Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
4swinv · Apr 9, 2024 · c90da6d · c90da6d
1 parent 8afc950
commit c90da6d
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -4,13 +4,15 @@
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
+      use_ego_cut_line: true      # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
       specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
       deceleration_jerk: -0.3     # [m/s^3] ego decelerates with this jerk when stopping for obstacles
       detection_distance: 45.0    # [m] ahead distance from ego to detect the obstacles
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
+      ego_cut_line_length: 3.0    # The width of the ego's cut line
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle: