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feat: tune avoidance parameter
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Signed-off-by: tomoya.kimura <[email protected]>
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@tkimura4 @takayuki5168
tkimura4 authored and takayuki5168 committed Nov 6, 2023
1 parent a71571b commit 8ea85b6
Showing 1 changed file with 34 additions and 34 deletions.
68 changes: 34 additions & 34 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -30,44 +30,44 @@
is_target: true # [-]
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
moving_time_threshold: 2.0 # [s]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
avoid_margin_lateral: 1.0 # [m]
safety_buffer_lateral: 0.7 # [m]
envelope_buffer_margin: 0.5 # [m]
avoid_margin_lateral: 0.7 # [m]
safety_buffer_lateral: 0.3 # [m]
safety_buffer_longitudinal: 0.0 # [m]
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
truck:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
moving_speed_threshold: 2.0 # 7.2km/h
moving_time_threshold: 2.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
moving_speed_threshold: 2.0 # 7.2km/h
moving_time_threshold: 2.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
moving_speed_threshold: 2.0 # 7.2km/h
moving_time_threshold: 2.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
Expand All @@ -76,9 +76,9 @@
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.1
avoid_margin_lateral: 0.7
safety_buffer_lateral: -0.2
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
Expand All @@ -87,9 +87,9 @@
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 1.0
safety_buffer_lateral: 1.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
Expand All @@ -98,9 +98,9 @@
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 1.0
safety_buffer_lateral: 1.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.3
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
Expand All @@ -109,9 +109,9 @@
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 1.0
safety_buffer_lateral: 1.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
lower_distance_for_polygon_expansion: 30.0 # [m]
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expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
rear_vehicle_safety_time_margin: 1.0 # [s]
lateral_distance_max_threshold: 0.75 # [m]
lateral_distance_max_threshold: 2.0 # [m]
longitudinal_distance_min_threshold: 3.0 # [m]
longitudinal_velocity_delta_time: 0.8 # [s]

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# avoidance lateral parameters
lateral:
lateral_execution_threshold: 0.09 # [m]
lateral_small_shift_threshold: 0.101 # [m]
lateral_small_shift_threshold: 0.501 # [m]
lateral_avoid_check_threshold: 0.1 # [m]
soft_road_shoulder_margin: 0.3 # [m]
soft_road_shoulder_margin: 0.8 # [m]
hard_road_shoulder_margin: 0.3 # [m]
max_right_shift_length: 5.0
max_left_shift_length: 5.0
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