feat(dynamic_avoidance): avoid pedestrians (#958)

new feature Signed-off-by: Yuki Takagi <[email protected]>
autowarefoundation · Apr 19, 2024 · 76a7e1c · 76a7e1c
1 parent 234d1b9
commit 76a7e1c
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -12,9 +12,9 @@
         bus: true
         trailer: true
         unknown: false
-        bicycle: false
+        bicycle: true
         motorcycle: true
-        pedestrian: false
+        pedestrian: true
 
         max_obstacle_vel: 100.0 # [m/s]
         min_obstacle_vel: 0.0 # [m/s]
@@ -40,6 +40,7 @@
           max_overtaking_object_angle: 1.05
           min_oncoming_object_vel: 1.0
           max_oncoming_object_angle: 0.523
+          max_pedestrian_crossing_vel: 0.8
 
         front_object:
           max_object_angle: 0.785
@@ -55,6 +56,10 @@
           min_longitudinal_polygon_margin: 3.0 # [m]
 
         lat_offset_from_obstacle: 1.0 # [m]
+        margin_distance_around_pedestrian: 2.0 # [m]
+        predicted_path:
+          end_time_to_consider: 3.0 # [s]
+          threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]