From 7240e0efa0f85031656bc77a16532cdb722c2fa4 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Mon, 19 Dec 2022 17:48:50 +0900 Subject: [PATCH 1/3] feat(planning_launch): update avoidance param Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 149 ++++++++++-------- 1 file changed, 84 insertions(+), 65 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 3af3a2683..5e8aa6dd5 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -2,75 +2,25 @@ /**: 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 - # 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 @@ -82,11 +32,80 @@ 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: + # constraints type + hard_constraints: 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] From 6552dcbebeb33e8b3abcc2247f64a1fda65598ef Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 4 Jan 2023 09:35:09 +0900 Subject: [PATCH 2/3] fix(avoidance): fix param name for readability Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5e8aa6dd5..630c03ada 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -86,8 +86,8 @@ max_distance: 20.0 # [m] constraints: - # constraints type - hard_constraints: false # [-] + # vehicle slows down under longitudinal constraints + use_constraints_for_decel: false # [-] # lateral constraints lateral: From 5c325841117e6fc27d749d920bbb797f32df7cbf Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 11 Jan 2023 14:48:08 +0900 Subject: [PATCH 3/3] fix(planning_launch): add missing param Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 630c03ada..40de19bd6 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -16,6 +16,7 @@ enable_avoidance_over_opposite_direction: true enable_update_path_when_object_is_gone: false enable_safety_check: false + enable_yield_maneuver: false # for debug publish_debug_marker: false