From 6004d8785356ec9993e4b776f7b30d1b818a42ef Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 14 Nov 2023 11:03:57 +0900 Subject: [PATCH] feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters (#681) * add moving parameters for testing Signed-off-by: Daniel Sanchez * param tuning for tests Signed-off-by: Daniel Sanchez * wip params for velocity-based obscruise planner Signed-off-by: Daniel Sanchez * add different values for debugging Signed-off-by: Daniel Sanchez * set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez * set params to match previous values Signed-off-by: Daniel Sanchez * eliminate pedestrian mention Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner.param.yaml | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index ddea1a9b56..4c9f84d5eb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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]