From 5ec4778d3ad60d9c037cb391deedd63377eaf17f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 28 Nov 2023 19:29:17 +0900 Subject: [PATCH] feat(avoidance): configurable object type for safety check (#709) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 28 +++++++++++++------ .../avoidance_by_lc.param.yaml | 21 ++++++++------ 2 files changed, 33 insertions(+), 16 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index d3032ffdd3..27f6a0df63 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -27,7 +27,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -38,7 +37,6 @@ safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -49,7 +47,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -60,7 +57,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -71,7 +67,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -82,7 +77,6 @@ safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -93,7 +87,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -104,7 +97,6 @@ safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -119,6 +111,16 @@ # For target object filtering target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -152,6 +154,16 @@ # For safety check safety_check: + # safety check target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration enable: true # [-] check_current_lane: false # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index bd8545d9e6..74c6112c0e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -7,7 +7,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 2 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -16,7 +15,6 @@ avoid_margin_lateral: 0.0 # [m] safety_buffer_lateral: 0.0 # [m] truck: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -25,7 +23,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bus: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -34,7 +31,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 trailer: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -43,7 +39,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -52,7 +47,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bicycle: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -61,7 +55,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 motorcycle: - is_target: false execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -70,7 +63,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 pedestrian: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -80,3 +72,16 @@ safety_buffer_lateral: 1.0 lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] + + # For target object filtering + target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: false # [-] + motorcycle: false # [-] + pedestrian: false # [-]