feat(obstacle_cruise_planner): use obstacle velocity based obstacle p…

…arameters (#681) * add moving parameters for testing Signed-off-by: Daniel Sanchez <[email protected]> * param tuning for tests Signed-off-by: Daniel Sanchez <[email protected]> * wip params for velocity-based obscruise planner Signed-off-by: Daniel Sanchez <[email protected]> * add different values for debugging Signed-off-by: Daniel Sanchez <[email protected]> * set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez <[email protected]> * set params to match previous values Signed-off-by: Daniel Sanchez <[email protected]> * eliminate pedestrian mention Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Nov 14, 2023 · 6004d87 · 6004d87
1 parent 2b25e81
commit 6004d87
Showing 1 changed file with 13 additions and 4 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
@@ -182,10 +182,19 @@
       labels:
         - "default"
       default:
-        min_lat_margin: 0.2
-        max_lat_margin: 1.0
-        min_ego_velocity: 2.0
-        max_ego_velocity: 8.0
+        moving:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
+        static:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
+
+      moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"
+      moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold
 
       time_margin_on_target_velocity: 1.5 # [s]