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feat: enable and tune drivable area expansion #689

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Nov 16, 2023
Merged

feat: enable and tune drivable area expansion #689

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6 changes: 3 additions & 3 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

# Dynamic expansion by using the path curvature
dynamic_expansion:
enabled: false
enabled: true
print_runtime: false
max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
smoothing:
Expand All @@ -19,14 +19,14 @@
extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
extra_width: 1.0 # [m] extra length to add to the width
dynamic_objects:
avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
path_preprocessing:
max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
avoid_linestring:
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