fix(static_obstacle_avoidance): change parameter to decrease sudden s…

…topping (autowarefoundation#771) * change hard/soft margin and deceleration method Signed-off-by: Go Sakayori <[email protected]> * fix(static_obstacle_avoidance): cherry-pick AWF autowarefoundation#1130 (autowarefoundation#569) feat(static_obstacle_avoidance): add parameter for envelope polygon creation (autowarefoundation#1130) * add threshold for eclipse long radius * change parameter --------- Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Go Sakayori <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Go Sakayori <[email protected]>
technolojin · Sep 3, 2024 · 92b9a2c · 92b9a2c
1 parent 7e53620
commit 92b9a2c
Showing 1 changed file with 17 additions and 9 deletions.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -23,41 +23,45 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.2                            # [m]
+            soft_margin: 0.7                            # [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]
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.2
+            soft_margin: 0.7
             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
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.2
+            soft_margin: 0.7
             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
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.2
+            soft_margin: 0.7
             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
         unknown:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -68,6 +72,7 @@
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
+          th_error_eclipse_long_radius : 0.6
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -78,6 +83,7 @@
             hard_margin_for_parked_vehicle: 0.5
           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
@@ -88,6 +94,7 @@
             hard_margin_for_parked_vehicle: 0.3
           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
@@ -98,6 +105,7 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
+          th_error_eclipse_long_radius : 0.6
         lower_distance_for_polygon_expansion: 30.0      # [m] FOR DEVELOPER
         upper_distance_for_polygon_expansion: 100.0     # [m] FOR DEVELOPER
 
@@ -264,7 +272,7 @@
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.
         # "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
         #             make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
-        deceleration: "reliable"                        # [-]
+        deceleration: "best_effort"                        # [-]
         # policy for avoidance lateral margin. select "best_effort" or "reliable".
         # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
         #                margin to avoid.