From 92b9a2cfaf3cdcc0fadea6b7fb674f9f445b13bd Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 3 Sep 2024 17:48:17 +0900 Subject: [PATCH] fix(static_obstacle_avoidance): change parameter to decrease sudden stopping (#771) * change hard/soft margin and deceleration method Signed-off-by: Go Sakayori * fix(static_obstacle_avoidance): cherry-pick AWF #1130 (#569) feat(static_obstacle_avoidance): add parameter for envelope polygon creation (#1130) * add threshold for eclipse long radius * change parameter --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../static_obstacle_avoidance.param.yaml | 26 ++++++++++++------- 1 file changed, 17 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 04448c0309..e806368748 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_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.