feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop #7121
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| stop: | ||
| type_specified_params: | ||
| use_type_specified_params: # If true, the node try to read the following type specified values | ||
| unknown: true | ||
| car: false | ||
| truck: false | ||
| bus: false | ||
| trailer: false | ||
| motorcycle: false | ||
| bicycle: false | ||
| pedestrian: false | ||
| limit_min_acc: # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred. | ||
| unknown: -1.0 | ||
| limit_max_dist: | ||
| unknown: 50.0 | ||
| abandon_to_stop: # If true, the planner gives up to stop when it cannot avoid a collision while maintaining the deceleration limit. | ||
| unknown: false |
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Is it possible to list down parameters depending on the object type as parameters of slow_down ?
| } | ||
| } | ||
| } | ||
| std::string getParamType(ObjectClassification label) |
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Add const reference to the argument, and const to the function. Please check other functions as well.
| if (current_closest_stop_obstacle) { | ||
| prev_closest_stop_obstacle_ptr_ = | ||
| std::make_shared<StopObstacle>(*current_closest_stop_obstacle); | ||
| static std::vector<StopObstacle> prev_closest_stop_obstacles{}; |
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Any reason to use static variables?
I actually am not 100% confident, but I feel they should be avoided.
https://stackoverflow.com/questions/7026507/why-are-static-variables-considered-evil
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Signed-off-by: Yuki Takagi <[email protected]>
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Signed-off-by: Yuki Takagi <[email protected]>
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… abandon to stop (#7121) * add abandon function Signed-off-by: Yuki Takagi <[email protected]>
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Description
New feature to use type specified parameters for stop planning
Until now, the deceleration limit for stopping has been a value that does not depend on the type of object (currently, -2.5, which is set in common_param). In addition, although the deceleration limit may postpone the stop position, it does not change the stop decision itself.
This PR provides two additional features.
The first is to allow the deceleration limit to be set for each object type. For unknown objects, we put the default value to stop at “loose deceleration.”
The other is a function that abandons the decision to stop when a collision cannot be prevented while maintaining the deceleration limit. This function is disabled for all object types by default. I believe that it can be enabled only after careful consideration and only for unknown objects.
Screencast from 05-28-2024 04:57:55 PM.webm
abandon to stop against bus with the parameters
Screencast from 05-28-2024 05:01:58 PM.webm
Multiple stop objects can be handled appropriately
Related links
launch PR: autowarefoundation/autoware_launch#1003
Tests performed
psim and tier4 internal tests
Notes for reviewers
Interface changes
ROS Topic Changes
none
ROS Parameter Changes
see the file changes and comments
Effects on system behavior
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