feat(obstacle_cruise_planner): add parameters for a new feature (#581)

* feat: add parameters for the feature "cosider-current-ego-pose" Signed-off-by: Yuki Takagi <[email protected]> * set the params to be merged. use stop planner as cruise planner type (conventional setting) polygon expansion in obstacle_cruise_planner is true Signed-off-by: Yuki Takagi <[email protected]> --------- Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Sep 25, 2023 · f4ed3ba · f4ed3ba
1 parent 36820f2
commit f4ed3ba
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -106,6 +106,13 @@
         successive_num_to_entry_slow_down_condition: 5
         successive_num_to_exit_slow_down_condition: 5
 
+      # consider the current ego pose (it is not the nearest pose on the reference trajectory)
+      # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
+      # The both errors decrease with constant rates against the time.
+      consider_current_pose:
+        enable_to_consider_current_pose: true
+        time_to_convergence: 1.5 #[s]
+
     cruise:
       pid_based_planner:
         use_velocity_limit_based_planner: true