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feat: tune dynamic avoidance parameters with the real vehicle #775

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Jan 9, 2024
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feat: tune dynamic avoidance parameters with the real vehicle #775

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10 changes: 5 additions & 5 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
crossing_object:
min_overtaking_object_vel: 1.0
max_overtaking_object_angle: 1.05
min_oncoming_object_vel: 0.0
min_oncoming_object_vel: 1.0
max_oncoming_object_angle: 0.523

front_object:
Expand All @@ -54,7 +54,7 @@
object_path_base:
min_longitudinal_polygon_margin: 3.0 # [m]

lat_offset_from_obstacle: 0.8 # [m]
lat_offset_from_obstacle: 1.0 # [m]
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 # [-]
Expand All @@ -66,12 +66,12 @@
# for same directional object
overtaking_object:
max_time_to_collision: 40.0 # [s]
start_duration_to_avoid: 2.0 # [s]
end_duration_to_avoid: 4.0 # [s]
start_duration_to_avoid: 1.0 # [s]
end_duration_to_avoid: 1.0 # [s]
duration_to_hold_avoidance: 3.0 # [s]

# for opposite directional object
oncoming_object:
max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
start_duration_to_avoid: 12.0 # [s]
start_duration_to_avoid: 1.0 # [s]
end_duration_to_avoid: 0.0 # [s]
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