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feat: tune parameters for optimization path planning #774

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Jan 10, 2024
Merged

feat: tune parameters for optimization path planning #774

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71ca283
feat: tune parameters for optimization path planning
takayuki5168 Jan 7, 2024
ea3bf83
disable warm start
takayuki5168 Jan 8, 2024
90ea55b
Update autoware_launch/config/planning/scenario_planning/lane_driving…
takayuki5168 Jan 10, 2024
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8 changes: 4 additions & 4 deletions ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
option:
enable_skip_optimization: false # skip elastic band and model predictive trajectory
enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result.
enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area
enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area
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use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.

debug:
Expand Down Expand Up @@ -31,7 +31,7 @@
max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
# make max_goal_moving_dist long to keep start point fixed for pull over
max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
max_delta_time_sec: 1.0 # threshold of delta time for replan [second]
max_delta_time_sec: 0.0 # threshold of delta time for replan [second]

# mpt param
mpt:
Expand All @@ -40,7 +40,7 @@
steer_limit_constraint: false
visualize_sampling_num: 1
enable_manual_warm_start: false
enable_warm_start: true
enable_warm_start: false
enable_optimization_validation: false

common:
Expand All @@ -62,7 +62,7 @@
# weight parameter for optimization
weight:
# collision free
soft_collision_free_weight: 1000.0 # soft weight for lateral error around the middle point
soft_collision_free_weight: 1.0 # soft weight for lateral error around the middle point

# tracking error
lat_error_weight: 1.0 # weight for lateral error
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2 changes: 1 addition & 1 deletion ...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
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Expand Up @@ -44,4 +44,4 @@
max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
# make max_goal_moving_dist long to keep start point fixed for pull over
max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
max_delta_time_sec: 1.0 # threshold of delta time for replan [second]
max_delta_time_sec: 0.0 # threshold of delta time for replan [second]
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