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Merge pull request autowarefoundation#812 from tier4/hotfix/v0.44.5/a…
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…voidance

fix(avoidance): cherry pick PRs for avoidance module
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@shmpwk
shmpwk authored Mar 19, 2024
2 parents 8712df5 + c4aa600 commit 7a73650
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Showing 2 changed files with 67 additions and 35 deletions.
54 changes: 35 additions & 19 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,80 +31,96 @@
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 2.0 # [s]
lateral_margin:
soft_margin: 0.3 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.5 # [m]
avoid_margin_lateral: 0.7 # [m]
safety_buffer_lateral: 0.3 # [m]
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:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 2.0
lateral_margin:
soft_margin: 0.3 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 2.0
lateral_margin:
soft_margin: 0.3 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 2.0
lateral_margin:
soft_margin: 0.3 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: -0.2 # [m]
hard_margin_for_parked_vehicle: -0.2 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
avoid_margin_lateral: 0.7
safety_buffer_lateral: -0.2
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.5 # [m]
hard_margin_for_parked_vehicle: 0.5 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.3 # [m]
hard_margin_for_parked_vehicle: 0.3 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.3
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
lateral_margin:
soft_margin: 0.7 # [m]
hard_margin: 0.5 # [m]
hard_margin_for_parked_vehicle: 0.5 # [m]
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
lower_distance_for_polygon_expansion: 30.0 # [m]
Expand Down Expand Up @@ -140,7 +156,7 @@
backward_distance: 10.0 # [m]

# params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
force_avoidance:
avoidance_for_ambiguous_vehicle:
enable: true # [-]
time_threshold: 3.0 # [s]
distance_threshold: 1.0 # [m]
Expand Down Expand Up @@ -178,7 +194,7 @@
check_all_predicted_path: false # [-]
safety_check_backward_distance: 100.0 # [m]
hysteresis_factor_expand_rate: 1.5 # [-]
hysteresis_factor_safe_count: 10 # [-]
hysteresis_factor_safe_count: 3 # [-]
# predicted path parameters
min_velocity: 1.38 # [m/s]
max_velocity: 50.0 # [m/s]
Expand All @@ -193,7 +209,7 @@
rear_vehicle_safety_time_margin: 1.0 # [s]
lateral_distance_max_threshold: 2.0 # [m]
longitudinal_distance_min_threshold: 3.0 # [m]
longitudinal_velocity_delta_time: 0.8 # [s]
longitudinal_velocity_delta_time: 0.0 # [s]

# For avoidance maneuver
avoidance:
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48 changes: 32 additions & 16 deletions ...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,65 +12,81 @@
moving_time_threshold: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
avoid_margin_lateral: 0.0 # [m]
safety_buffer_lateral: 0.0 # [m]
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
is_target: false
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]

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