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Merge remote-tracking branch 'origin/main' into smoother-latearal-acc…
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…-velocity
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TakaHoribe committed Sep 25, 2023
2 parents bac3032 + 76a3f65 commit bf2af49
Showing 6 changed files with 25 additions and 12 deletions.
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@@ -15,6 +15,8 @@
nominal:
vel_lim: 25.0
reference_speed_points: [20.0, 30.0]
steer_lim: [1.0, 0.8]
steer_rate_lim: [1.0, 0.8]
lon_acc_lim: [5.0, 4.0]
lon_jerk_lim: [5.0, 4.0]
lat_acc_lim: [5.0, 4.0]
@@ -23,6 +25,8 @@
on_transition:
vel_lim: 50.0
reference_speed_points: [20.0, 30.0]
steer_lim: [1.0, 0.8]
steer_rate_lim: [1.0, 0.8]
lon_acc_lim: [1.0, 0.9]
lon_jerk_lim: [0.5, 0.4]
lat_acc_lim: [2.0, 1.8]
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@@ -6,6 +6,9 @@
# Vehicle reference frame
base_frame: "base_link"

# NDT reference frame
ndt_base_frame: "ndt_base_link"

# Subscriber queue size
input_sensor_points_queue_size: 1

@@ -46,10 +49,6 @@
# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
initial_pose_distance_tolerance_m: 10.0

# neighborhood search method
# 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
neighborhood_search_method: 0

# Number of threads used for parallel computing
num_threads: 4

@@ -80,6 +79,7 @@
# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0

# cspell: ignore degrounded
# A flag for using scan matching score based on de-grounded LiDAR scan
estimate_scores_for_degrounded_scan: false

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@@ -7,13 +7,21 @@
# external velocity limit parameter
margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m]

# curve parameters
# -- curve parameters --
# common parameters
curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m]
# lateral acceleration limit parameters
enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime.
max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss]
min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit
decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit
min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]
# steering angle rate limit parameters
enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s]
resample_ds: 0.1 # distance between trajectory points [m]
curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]

# engage & replan parameters
replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s]
@@ -49,13 +57,6 @@
post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m]

# steering angle rate limit parameters
enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime.
max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s]
resample_ds: 0.1 # distance between trajectory points [m]
curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m]
curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m]

# system
over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point

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@@ -5,6 +5,7 @@
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
center_line_path_interval: 1.0

# goal search
goal_search:
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@@ -62,6 +62,11 @@
check_objects_on_other_lanes: true
use_all_predicted_path: true

# lane change regulations
regulation:
crosswalk: false
intersection: false

# lane change cancel
cancel:
enable_on_prepare_phase: true
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@@ -7,6 +7,8 @@
collision_check_margin: 1.0
collision_check_distance_from_end: 1.0
th_moving_object_velocity: 1.0
th_distance_to_middle_of_the_road: 0.1
center_line_path_interval: 1.0
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: false

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