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feat(obstacle_cruise_planner): add an explanation #2034

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Oct 7, 2022
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feat(obstacle_cruise_planner): add an explanation #2034

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feat(obstacle_cruise_planner): add an explanation
purewater0901 Oct 7, 2022
49d9ea1
update readme
purewater0901 Oct 7, 2022
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2 changes: 1 addition & 1 deletion ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -10,7 +10,7 @@
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]

nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
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10 changes: 6 additions & 4 deletions planning/obstacle_cruise_planner/README.md
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Expand Up @@ -149,15 +149,17 @@ In the `obstacle_filtering` namespace,

### Stop planning

| Parameter | Type | Description |
| ----------------------------- | ------ | ----------------------------------------- |
| `common.min_strong_accel` | double | ego's minimum acceleration to stop [m/ss] |
| `common.safe_distance_margin` | double | distance with obstacles for stop [m] |
| Parameter | Type | Description |
| -------------------------------------- | ------ | ------------------------------------------------------------------------------------------ |
| `common.min_strong_accel` | double | ego's minimum acceleration to stop [m/ss] |
| `common.safe_distance_margin` | double | distance with obstacles for stop [m] |
| `common.terminal_safe_distance_margin` | double | terminal_distance with obstacles for stop, which cannot be exceed safe distance margin [m] |

The role of the stop planning is keeping a safe distance with static vehicle objects or dynamic/static non vehicle objects.

The stop planning just inserts the stop point in the trajectory to keep a distance with obstacles inside the detection area.
The safe distance is parameterized as `common.safe_distance_margin`.
When it stops at the end of the trajectory, and obstacle is on the same point, the safe distance becomes `terminal_safe_distance_margin`.

When inserting the stop point, the required acceleration for the ego to stop in front of the stop point is calculated.
If the acceleration is less than `common.min_strong_accel`, the stop planning will be cancelled since this package does not assume a strong sudden brake for emergency.
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2 changes: 1 addition & 1 deletion planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
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Expand Up @@ -10,7 +10,7 @@
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]

nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
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2 changes: 1 addition & 1 deletion planning/obstacle_cruise_planner/src/planner_interface.cpp
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Expand Up @@ -155,7 +155,7 @@ Trajectory PlannerInterface::generateStopTrajectory(
abs_ego_offset;
const double stop_dist_diff =
closest_behavior_stop_dist_from_ego - closest_obstacle_stop_dist_from_ego;
if (stop_dist_diff < 0.5) {
if (stop_dist_diff < longitudinal_info_.safe_distance_margin) {
// Use terminal margin (terminal_safe_distance_margin) for obstacle stop
return longitudinal_info_.terminal_safe_distance_margin;
}
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