From 83339fd59531ca78159dce415996ea6a1f2b9a84 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 27 Aug 2024 07:43:21 +0300 Subject: [PATCH] feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out Signed-off-by: Berkay Karaman --- .../obstacle_cruise_planner.param.yaml | 52 ++++++++++++------- 1 file changed, 34 insertions(+), 18 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 695a3b2365..5b73204f28 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 @@ -21,7 +21,7 @@ nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index - min_behavior_stop_margin: 3.0 # [m] + min_behavior_stop_margin: 6.0 # [m] stop_on_curve: enable_approaching: false additional_safe_distance_margin: 3.0 # [m] @@ -29,15 +29,26 @@ suppress_sudden_obstacle_stop: false stop_obstacle_type: - unknown: true - car: true - truck: true - bus: true - trailer: true - motorcycle: true - bicycle: true - pedestrian: true pointcloud: false + inside: + unknown: true + car: true + truck: true + bus: true + trailer: true + motorcycle: true + bicycle: true + pedestrian: true + + outside: + unknown: false + car: true + truck: true + bus: true + trailer: true + motorcycle: true + bicycle: true + pedestrian: true cruise_obstacle_type: inside: @@ -57,7 +68,7 @@ bus: true trailer: true motorcycle: true - bicycle: false + bicycle: true pedestrian: false slow_down_obstacle_type: @@ -88,26 +99,31 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: - obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] - obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop + obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] + obstacle_traj_angle_threshold : 0.523599 # [rad] = 30 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint + outside_obstacle: + max_lateral_time_margin: 4.0 # time threshold of lateral margin between the obstacles and ego's footprint [s] + num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego crossing_obstacle: - collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] + collision_time_margin : 2.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: - obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] - max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego + obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] + ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] + max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego + max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] + num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding