From 09c80249a8d2476c00d8d5154241b41f7b6a37fe Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 24 Jan 2023 23:06:06 +0900 Subject: [PATCH] feat(intersection): improve ego velocity prediction in collision detection (#181) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index f78e8b16aa..dc7c4ea31d 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -1,10 +1,8 @@ /**: ros__parameters: intersection: - state_transit_margin_time: 0.5 + state_transit_margin_time: 1.0 stop_line_margin: 3.0 - keep_detection_line_margin: 1.0 # distance (toward path end) from generated stop line. keep detection if ego is before this line and ego.vel < keep_detection_vel_thr - keep_detection_vel_thr: 0.833 # == 3.0km/h stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-) stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h @@ -16,8 +14,9 @@ detection_area_length: 200.0 # [m] detection_area_angle_threshold: 0.785 # [rad] min_predicted_path_confidence: 0.05 - collision_start_margin_time: 5.0 # [s] - collision_end_margin_time: 2.0 # [s] + minimum_ego_predicted_velocity: 1.388 # [m/s] + collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of frontcar when frontcar as well as ego are turning enable_front_car_decel_prediction: false # By default this feature is disabled