From bc4260c463ae42d3151f30a83cd4bd6217811ac3 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 22 Jan 2024 13:08:49 +0900 Subject: [PATCH] chore(planning): change params to vehicle tested values (#6118) upadate params Signed-off-by: Yuki Takagi --- .../config/crosswalk.param.yaml | 6 +++--- .../config/walkway.param.yaml | 2 +- .../config/obstacle_cruise_planner.param.yaml | 8 ++++---- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml b/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml index 273db320f1027..aa5dfed1e4bc5 100644 --- a/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml +++ b/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml @@ -50,15 +50,15 @@ min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] - stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph) + stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph) min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) ## param for yielding disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed. distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order - timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s] - timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. + timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s] + timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. # param for target object filtering object_filtering: diff --git a/planning/behavior_velocity_walkway_module/config/walkway.param.yaml b/planning/behavior_velocity_walkway_module/config/walkway.param.yaml index f21e3d12db56f..07f493edcde12 100644 --- a/planning/behavior_velocity_walkway_module/config/walkway.param.yaml +++ b/planning/behavior_velocity_walkway_module/config/walkway.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: walkway: - stop_duration: 1.0 # [s] stop time at stop position + stop_duration: 0.1 # [s] stop time at stop position stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index d8b9c942a986a..aad4bd7e17757 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -85,15 +85,15 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: - obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 1.0 # time threshold to decide cut-in obstacle for cruise or stop [s] + obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] + ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego slow_down: @@ -188,7 +188,7 @@ static: min_lat_margin: 0.2 max_lat_margin: 1.0 - min_ego_velocity: 2.0 + min_ego_velocity: 4.0 max_ego_velocity: 8.0 pedestrian: moving: