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fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

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merged 7 commits into from
Nov 26, 2024
Merged

fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

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f205a5e
fix(static_obstacle_avoidance): lower hard margin for parked car to h…
Aug 20, 2024
fc0bd9c
fix(static_obstacle_avoidance): lower hard margin for parked car to h…
Sep 2, 2024
c5fdcee
fix(static_obstacle_avoidance): lower hard margin for parked NPCs to …
Sep 2, 2024
19e2f75
fix(static_obstacle_avoidance): lower max prep time to handle dense u…
Sep 3, 2024
1b2c625
fix(static_obstacle_avoidance): lower lateral soft margin to handle d…
Sep 3, 2024
cb8a8c2
fix(static_obstacle_avoidance): change jerk values to handle dense ur…
Sep 18, 2024
4cc4d26
fix(static_obstacle_avoidance): lower longitudinal margin to handle d…
Sep 30, 2024
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36 changes: 18 additions & 18 deletions ...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,9 @@
th_moving_time: 2.0 # [s]
longitudinal_margin: 0.0 # [m]
lateral_margin:
soft_margin: 0.7 # [m]
soft_margin: 0.5 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
hard_margin_for_parked_vehicle: 0.2 # [m]
max_expand_ratio: 0.0 # [-] FOR DEVELOPER
envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER
th_error_eclipse_long_radius : 0.6 # [m]
Expand All @@ -34,9 +34,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
Expand All @@ -45,9 +45,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
Expand All @@ -56,9 +56,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
Expand All @@ -67,7 +67,7 @@
th_moving_time: 1.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: -0.2
hard_margin_for_parked_vehicle: -0.2
max_expand_ratio: 0.0
Expand All @@ -76,33 +76,33 @@
bicycle:
th_moving_speed: 0.28
th_moving_time: 1.0
longitudinal_margin: 1.0
longitudinal_margin: 0.6
lateral_margin:
soft_margin: 0.7
hard_margin: 0.5
hard_margin_for_parked_vehicle: 0.5
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
motorcycle:
th_moving_speed: 1.0
th_moving_time: 1.0
longitudinal_margin: 1.0
longitudinal_margin: 0.6
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.3
hard_margin_for_parked_vehicle: 0.3
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
pedestrian:
th_moving_speed: 0.28
th_moving_time: 1.0
longitudinal_margin: 1.0
longitudinal_margin: 0.6
lateral_margin:
soft_margin: 0.7
hard_margin: 0.5
hard_margin_for_parked_vehicle: 0.5
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
Expand Down Expand Up @@ -232,7 +232,7 @@
# avoidance distance parameters
longitudinal:
min_prepare_time: 1.0 # [s]
max_prepare_time: 3.0 # [s]
max_prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER
Expand Down Expand Up @@ -294,7 +294,7 @@
velocity: [1.39, 4.17, 11.1] # [m/s]
max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
max_jerk_values: [1.0, 1.0, 1.0] # [m/sss]
max_jerk_values: [3.0, 3.0, 3.0] # [m/sss]

# longitudinal constraints
longitudinal:
Expand Down
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