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feat(planning_launch): add new param for yield maneuver in avoidance.…
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…param.yaml (#657)

* feat(planning_launch): update avoidance param

Signed-off-by: satoshi-ota <[email protected]>

* fix(avoidance): fix param name for readability

Signed-off-by: satoshi-ota <[email protected]>

* fix(planning_launch): add missing param

Signed-off-by: satoshi-ota <[email protected]>

Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota authored Jan 12, 2023
1 parent 620625b commit 0b36fb9
Showing 1 changed file with 85 additions and 65 deletions.
150 changes: 85 additions & 65 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 @@ -2,75 +2,26 @@
/**:
ros__parameters:
avoidance:
resample_interval_for_planning: 0.3
resample_interval_for_output: 4.0
detection_area_right_expand_dist: 0.0
detection_area_left_expand_dist: 1.0

resample_interval_for_planning: 0.3 # [m]
resample_interval_for_output: 4.0 # [m]
detection_area_right_expand_dist: 0.0 # [m]
detection_area_left_expand_dist: 1.0 # [m]
drivable_area_right_bound_offset: 0.0 # [m]
drivable_area_left_bound_offset: 0.0 # [m]
object_envelope_buffer: 0.3 # [m]

# avoidance module common setting
enable_bound_clipping: false
enable_avoidance_over_same_direction: true
enable_avoidance_over_opposite_direction: true
enable_update_path_when_object_is_gone: false
enable_safety_check: false

# For target object filtering
threshold_speed_object_is_stopped: 1.0 # [m/s]
threshold_time_object_is_moving: 1.0 # [s]

object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
object_check_goal_distance: 20.0 # [m]

threshold_distance_object_is_on_center: 1.0 # [m]

object_check_shiftable_ratio: 0.6 # [-]
object_check_min_road_shoulder_width: 0.5 # [m]

# For safety check
safety_check_backward_distance: 50.0 # [m]
safety_check_time_horizon: 10.0 # [s]
safety_check_idling_time: 1.5 # [s]
safety_check_accel_for_rss: 2.5 # [m/ss]

# For lateral margin
object_envelope_buffer: 0.3 # [m]
lateral_collision_margin: 1.0 # [m]
lateral_collision_safety_buffer: 0.7 # [m]

# For longitudinal margin
longitudinal_collision_margin_buffer: 0.0 # [m]

prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
min_avoidance_distance: 10.0 # [m]

min_nominal_avoidance_speed: 7.0 # [m/s]
min_sharp_avoidance_speed: 1.0 # [m/s]

road_shoulder_safety_margin: 0.0 # [m]

max_right_shift_length: 5.0
max_left_shift_length: 5.0

nominal_lateral_jerk: 0.2 # [m/s3]
max_lateral_jerk: 1.0 # [m/s3]

object_last_seen_threshold: 2.0

# For prevention of large acceleration while avoidance
min_avoidance_speed_for_acc_prevention: 3.0 # [m/s]
max_avoidance_acceleration: 0.5 # [m/ss]

# bound clipping for objects
enable_bound_clipping: false
enable_yield_maneuver: false

# for debug
publish_debug_marker: false
print_debug_info: false

# not enabled yet
longitudinal_collision_margin_min_distance: 0.0 # [m]
longitudinal_collision_margin_time: 0.0

# avoidance is performed for the object type with true
target_object:
car: true
Expand All @@ -82,11 +33,80 @@
motorcycle: false
pedestrian: false

# ---------- advanced parameters ----------
avoidance_execution_lateral_threshold: 0.499
# For target object filtering
target_filtering:
# filtering moving objects
threshold_speed_object_is_stopped: 1.0 # [m/s]
threshold_time_object_is_moving: 1.0 # [s]
# detection range
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
object_check_shiftable_ratio: 0.6 # [-]
object_check_min_road_shoulder_width: 0.5 # [m]
# lost object compensation
object_last_seen_threshold: 2.0

# For safety check
safety_check:
safety_check_backward_distance: 50.0 # [m]
safety_check_time_horizon: 10.0 # [s]
safety_check_idling_time: 1.5 # [s]
safety_check_accel_for_rss: 2.5 # [m/ss]
safety_check_hysteresis_factor: 2.0 # [-]

# For avoidance maneuver
avoidance:
# avoidance lateral parameters
lateral:
lateral_collision_margin: 1.0 # [m]
lateral_collision_safety_buffer: 0.7 # [m]
lateral_passable_safety_buffer: 0.0 # [m]
road_shoulder_safety_margin: 0.0 # [m]
avoidance_execution_lateral_threshold: 0.499
max_right_shift_length: 5.0
max_left_shift_length: 5.0
# avoidance distance parameters
longitudinal:
prepare_time: 2.0 # [s]
longitudinal_collision_safety_buffer: 0.0 # [m]
min_prepare_distance: 1.0 # [m]
min_avoidance_distance: 10.0 # [m]
min_nominal_avoidance_speed: 7.0 # [m/s]
min_sharp_avoidance_speed: 1.0 # [m/s]

# For yield maneuver
yield:
yield_velocity: 2.78 # [m/s]

# For stop maneuver
stop:
min_distance: 10.0 # [m]
max_distance: 20.0 # [m]

constraints:
# vehicle slows down under longitudinal constraints
use_constraints_for_decel: false # [-]

# lateral constraints
lateral:
nominal_lateral_jerk: 0.2 # [m/s3]
max_lateral_jerk: 1.0 # [m/s3]

# longitudinal constraints
longitudinal:
nominal_deceleration: -1.0 # [m/ss]
nominal_jerk: 0.5 # [m/sss]
max_deceleration: -2.0 # [m/ss]
max_jerk: 1.0
# For prevention of large acceleration while avoidance
min_avoidance_speed_for_acc_prevention: 3.0 # [m/s]
max_avoidance_acceleration: 0.5 # [m/ss]

target_velocity_matrix:
col_size: 4
col_size: 2
matrix:
[2.78, 5.56, 11.1, 13.9, # velocity [m/s]
0.20, 0.90, 1.10, 1.20] # margin [m]
[2.78, 13.9, # velocity [m/s]
0.50, 1.00] # margin [m]

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