Reduced curvature threshold and backward trajectory length

Futu-reADS · Dec 13, 2024 · c8406af · c8406af
1 parent a02dfbc
commit c8406af
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -18,10 +18,9 @@
     min_decel_for_lateral_acc_lim_filter: -2.5  # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
     # steering angle rate limit parameters
     enable_steering_rate_limit: true         # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
-    max_steering_angle_rate: 10.0            # maximum steering angle rate [degree/s]
-    #reduced it to be within the planning validators limit, or it will trip off the validator. 
+    max_steering_angle_rate: 10.0            # maximum steering angle rate [degree/s] #SJ default 11.5 #reduced it to be within the planning validators limit, or it will trip off the validator. 
     resample_ds: 0.1                         # distance between trajectory points [m]
-    curvature_threshold: 0.05                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] #SJ default 0.02 #The default curvature threshold value in the start planner shft pullout is 0.07. Might get in the way of that.
+    curvature_threshold: 0.02                # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] #SJ default 0.02 #The default curvature threshold value in the start planner shft pullout is 0.07. Might get in the way of that.
 
     # engage & replan parameters
     replan_vel_deviation: 5.53         # velocity deviation to replan initial velocity [m/s]

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -18,7 +18,7 @@
     common:
       # output
       output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
-      output_backward_traj_length: 2.5  # backward length for backward trajectory from base_link [m] #SJ default 5.0 #IMPORTANT change - The higher the value, the larger the arc length of the smoothed out curve. 
+      output_backward_traj_length: 1.0  # backward length for backward trajectory from base_link [m] #SJ default 5.0 #IMPORTANT change - The higher the value, the larger the arc length of the smoothed out curve. 
                                       # Higher values mean any maneuvers will have a much smoother and shallower curve. Lower values mean the curve arc length is smaller and can have a smaller radius. 
 
       vehicle_stop_margin_outside_drivable_area: 0.0 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .

diff --git a/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -3,7 +3,7 @@
     common:
       # output
       output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
-      output_backward_traj_length: 2.5  # backward length for backward trajectory from base_link [m] #SJ default 5.0 #IMPORTANT change - The higher the value, the larger the arc length of the smoothed out curve. 
+      output_backward_traj_length: 1.0  # backward length for backward trajectory from base_link [m] #SJ default 5.0 #IMPORTANT change - The higher the value, the larger the arc length of the smoothed out curve. 
                                       # Higher values mean any maneuvers will have a much smoother and shallower curve. Lower values mean the curve arc length is smaller and can have a smaller radius. 
     # elastic band
     elastic_band: