feat(autoware_launch): update obstacle_cruise_planner param (#364)

* feat(autoware_launch): update obstacle_cruise_planner param Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · May 21, 2023 · b27e2f3 · b27e2f3
1 parent 5a103f9
commit b27e2f3
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -86,15 +86,15 @@
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
       cruise:
-        max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
         outside_obstacle:
           obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
           ego_obstacle_overlap_time_threshold : 1.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
       slow_down:
-        max_lat_margin: 0.7  # lateral margin between obstacle and trajectory band with ego's width
-        lat_hysteresis_margin: 0.1
+        max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
+        lat_hysteresis_margin: 0.2
 
     cruise:
       pid_based_planner:
@@ -168,3 +168,7 @@
       max_ego_velocity: 8.0
 
       time_margin_on_target_velocity: 1.5 # [s]
+
+      lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
+      lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
+      lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start