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chore(behavior_velocity): update latest params #320

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May 23, 2022
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chore(behavior_velocity): update latest params #320

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chore(behavior_velocity): update latest params
taikitanaka3 May 20, 2022
7f359a3
ci(pre-commit): autofix
pre-commit-ci[bot] May 20, 2022
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11 changes: 6 additions & 5 deletions ...anning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
2 changes: 2 additions & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
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Expand Up @@ -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