feat(avoidance): configurable object type for safety check (autowaref…

…oundation#709) (autowarefoundation#707) Signed-off-by: satoshi-ota <[email protected]>
sykwer · Nov 30, 2023 · 8f6ca92 · 8f6ca92
1 parent 2ea5274
commit 8f6ca92
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Showing 2 changed files with 33 additions and 16 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -30,7 +30,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
@@ -40,7 +39,6 @@
           safety_buffer_lateral: 0.3                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 2.0                  # 7.2km/h
           moving_time_threshold: 2.0
@@ -50,7 +48,6 @@
           safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
         bus:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 2.0                  # 7.2km/h
           moving_time_threshold: 2.0
@@ -60,7 +57,6 @@
           safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
         trailer:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 2.0                  # 7.2km/h
           moving_time_threshold: 2.0
@@ -70,7 +66,6 @@
           safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
         unknown:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -80,7 +75,6 @@
           safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
         bicycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -90,7 +84,6 @@
           safety_buffer_lateral: 0.5
           safety_buffer_longitudinal: 1.0
         motorcycle:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -100,7 +93,6 @@
           safety_buffer_lateral: 0.3
           safety_buffer_longitudinal: 1.0
         pedestrian:
-          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -114,6 +106,16 @@
 
       # For target object filtering
       target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: true                                  # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # params for avoidance of not-parked objects
         threshold_time_force_avoidance_for_stopped_vehicle: 1.0      # [s]
         object_ignore_section_traffic_light_in_front_distance: 100.0 # [m]
@@ -132,6 +134,16 @@
 
       # For safety check
       safety_check:
+        # safety check target type
+        target_type:
+          car: true                                      # [-]
+          truck: true                                    # [-]
+          bus: true                                      # [-]
+          trailer: true                                  # [-]
+          unknown: false                                 # [-]
+          bicycle: true                                  # [-]
+          motorcycle: true                               # [-]
+          pedestrian: true                               # [-]
         # safety check configuration
         enable: true                                     # [-]
         check_current_lane: false                        # [-]

diff --git a/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          is_target: true                              # [-]
           execute_num: 2                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
@@ -16,7 +15,6 @@
           avoid_margin_lateral: 0.0                    # [m]
           safety_buffer_lateral: 0.0                   # [m]
         truck:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -25,7 +23,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         bus:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -34,7 +31,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         trailer:
-          is_target: true
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -43,7 +39,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         unknown:
-          is_target: false
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -52,7 +47,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 0.0
         bicycle:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -61,7 +55,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
         motorcycle:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
@@ -70,7 +63,6 @@
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
         pedestrian:
-          is_target: false
           execute_num: 2
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
@@ -80,3 +72,16 @@
           safety_buffer_lateral: 1.0
         lower_distance_for_polygon_expansion: 0.0      # [m]
         upper_distance_for_polygon_expansion: 1.0      # [m]
+
+      # For target object filtering
+      target_filtering:
+        # avoidance target type
+        target_type:
+          car: true                                    # [-]
+          truck: true                                  # [-]
+          bus: true                                    # [-]
+          trailer: true                                # [-]
+          unknown: true                                # [-]
+          bicycle: false                               # [-]
+          motorcycle: false                            # [-]
+          pedestrian: false                            # [-]