diff --git a/planning/behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_goal_planner_module/config/goal_planner.param.yaml index 6f51b906c4c8f..46f39813f74d3 100644 --- a/planning/behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -127,7 +127,7 @@ delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 5.0 + safety_check_time_horizon: 10.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 10.0 @@ -163,7 +163,6 @@ method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters - check_all_predicted_path: true publish_debug_marker: false rss_params: rear_vehicle_reaction_time: 2.0 diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index 69be5c3723baf..00613d985ded8 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -370,31 +370,31 @@ Parameters under `path_safety_check.ego_predicted_path` specify the ego vehicle' Parameters under `target_filtering` are related to filtering target objects for safety check. -| Name | Unit | Type | Description | Default value | -| :---------------------------------------------- | :---- | :----- | :------------------------------------------------- | :------------ | -| safety_check_time_horizon | [s] | double | Time horizon for safety check | 5.0 | -| safety_check_time_resolution | [s] | double | Time resolution for safety check | 1.0 | -| object_check_forward_distance | [m] | double | Forward distance for object detection | 10.0 | -| object_check_backward_distance | [m] | double | Backward distance for object detection | 100.0 | -| ignore_object_velocity_threshold | [m/s] | double | Velocity threshold below which objects are ignored | 1.0 | -| object_types_to_check.check_car | - | bool | Flag to check cars | true | -| object_types_to_check.check_truck | - | bool | Flag to check trucks | true | -| object_types_to_check.check_bus | - | bool | Flag to check buses | true | -| object_types_to_check.check_trailer | - | bool | Flag to check trailers | true | -| object_types_to_check.check_bicycle | - | bool | Flag to check bicycles | true | -| object_types_to_check.check_motorcycle | - | bool | Flag to check motorcycles | true | -| object_types_to_check.check_pedestrian | - | bool | Flag to check pedestrians | true | -| object_types_to_check.check_unknown | - | bool | Flag to check unknown object types | false | -| object_lane_configuration.check_current_lane | - | bool | Flag to check the current lane | true | -| object_lane_configuration.check_right_side_lane | - | bool | Flag to check the right side lane | true | -| object_lane_configuration.check_left_side_lane | - | bool | Flag to check the left side lane | true | -| object_lane_configuration.check_shoulder_lane | - | bool | Flag to check the shoulder lane | true | -| object_lane_configuration.check_other_lane | - | bool | Flag to check other lanes | false | -| include_opposite_lane | - | bool | Flag to include the opposite lane in check | false | -| invert_opposite_lane | - | bool | Flag to invert the opposite lane check | false | -| check_all_predicted_path | - | bool | Flag to check all predicted paths | true | -| use_all_predicted_path | - | bool | Flag to use all predicted paths | true | -| use_predicted_path_outside_lanelet | - | bool | Flag to use predicted paths outside of lanelets | false | +| Name | Unit | Type | Description | Default value | +| :---------------------------------------------- | :---- | :----- | :----------------------------------------------------------------- | :------------ | +| safety_check_time_horizon | [s] | double | Time horizon for predicted paths of the ego and dynamic objects | 5.0 | +| safety_check_time_resolution | [s] | double | Time resolution for predicted paths of the ego and dynamic objects | 1.0 | +| object_check_forward_distance | [m] | double | Forward distance for object detection | 10.0 | +| object_check_backward_distance | [m] | double | Backward distance for object detection | 100.0 | +| ignore_object_velocity_threshold | [m/s] | double | Velocity threshold below which objects are ignored | 1.0 | +| object_types_to_check.check_car | - | bool | Flag to check cars | true | +| object_types_to_check.check_truck | - | bool | Flag to check trucks | true | +| object_types_to_check.check_bus | - | bool | Flag to check buses | true | +| object_types_to_check.check_trailer | - | bool | Flag to check trailers | true | +| object_types_to_check.check_bicycle | - | bool | Flag to check bicycles | true | +| object_types_to_check.check_motorcycle | - | bool | Flag to check motorcycles | true | +| object_types_to_check.check_pedestrian | - | bool | Flag to check pedestrians | true | +| object_types_to_check.check_unknown | - | bool | Flag to check unknown object types | false | +| object_lane_configuration.check_current_lane | - | bool | Flag to check the current lane | true | +| object_lane_configuration.check_right_side_lane | - | bool | Flag to check the right side lane | true | +| object_lane_configuration.check_left_side_lane | - | bool | Flag to check the left side lane | true | +| object_lane_configuration.check_shoulder_lane | - | bool | Flag to check the shoulder lane | true | +| object_lane_configuration.check_other_lane | - | bool | Flag to check other lanes | false | +| include_opposite_lane | - | bool | Flag to include the opposite lane in check | false | +| invert_opposite_lane | - | bool | Flag to invert the opposite lane check | false | +| check_all_predicted_path | - | bool | Flag to check all predicted paths | true | +| use_all_predicted_path | - | bool | Flag to use all predicted paths | true | +| use_predicted_path_outside_lanelet | - | bool | Flag to use predicted paths outside of lanelets | false | ### Safety Check Parameters diff --git a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml index df89427e90fa6..cfa630b24b394 100644 --- a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml @@ -126,7 +126,6 @@ # safety check configuration enable_safety_check: true # collision check parameters - check_all_predicted_path: true publish_debug_marker: false rss_params: rear_vehicle_reaction_time: 2.0