From 642e90466d28586541eaf7cc1dc34332bc387371 Mon Sep 17 00:00:00 2001 From: tanaka3 Date: Fri, 20 May 2022 18:29:25 +0900 Subject: [PATCH 1/2] chore(behavior_velocity): update latest params Signed-off-by: tanaka3 --- .../occlusion_spot.param.yaml | 11 ++++++----- .../behavior_velocity_planner/stop_line.param.yaml | 2 ++ 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml index a2f16ee82..be846f70c 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml @@ -4,6 +4,7 @@ detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object" pass_judge: "smooth_velocity" # [-] candidate is "smooth_velocity" or "current_velocity" filter_occupancy_grid: true # [-] whether to filter occupancy grid by morphologyEx or not + use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map use_object_info: true # [-] whether to reflect object info to occupancy grid map or not use_partition_lanelet: true # [-] whether to use partition lanelet map data pedestrian_vel: 1.5 # [m/s] assume pedestrian is dashing from occlusion at this velocity @@ -18,8 +19,8 @@ lateral_distance: 1.5 # [m] maximum lateral distance to consider hidden collision motion: safety_ratio: 0.8 # [-] jerk/acceleration ratio for safety - max_slow_down_jerk: -0.5 # [m/s^3] minimum jerk deceleration for safe brake. - max_slow_down_accel: -1.8 # [m/s^2] minimum accel deceleration for safe brake. + max_slow_down_jerk: -0.3 # [m/s^3] minimum jerk deceleration for safe brake. + max_slow_down_accel: -1.5 # [m/s^2] minimum accel deceleration for safe brake. non_effective_jerk: -0.3 # [m/s^3] weak jerk for velocity planning. non_effective_acceleration: -1.0 # [m/s^2] weak deceleration for velocity planning. min_allowed_velocity: 1.0 # [m/s] minimum velocity allowed @@ -28,7 +29,7 @@ min_occlusion_spot_size: 1.0 # [m] occupancy grid must contain an UNKNOWN area of at least size NxN to be considered a hidden obstacle. slice_length: 10.0 # [m] size of slices in both length and distance relative to the ego path. min_longitudinal_offset: 1.0 # [m] detection area safety buffer from front bumper. - max_lateral_distance: 6.0 # [m] buffer around the ego path used to build the detection area. + max_lateral_distance: 5.0 # [m] buffer around the ego path used to build the detection area. grid: - free_space_max: 40 # [-] maximum value of a free space cell in the occupancy grid - occupied_min: 60 # [-] minimum value of an occupied cell in the occupancy grid + free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid + occupied_min: 57 # [-] minimum value of an occupied cell in the occupancy grid diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index a2b5ac5d5..cf85a1aa8 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -4,3 +4,5 @@ stop_margin: 0.0 stop_check_dist: 2.0 stop_duration_sec: 1.0 + debug: + show_stopline_collision_check: false # [-] whether to show stopline collision \ No newline at end of file From 7f359a3b869055ed2c514634b28970257e71a11a Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 20 May 2022 09:34:19 +0000 Subject: [PATCH 2/2] ci(pre-commit): autofix --- .../behavior_velocity_planner/stop_line.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml index cf85a1aa8..6d723c510 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml @@ -5,4 +5,4 @@ stop_check_dist: 2.0 stop_duration_sec: 1.0 debug: - show_stopline_collision_check: false # [-] whether to show stopline collision \ No newline at end of file + show_stopline_collision_check: false # [-] whether to show stopline collision