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feat(behavior_path_planner): add yaw threshold param (#1040) #467

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feat(behavior_path_planner): add yaw threshold param (autowarefoundat…
…ion#1040)

add yaw threshold param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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danielsanchezaran authored and saka1-s committed Jul 1, 2024
commit d4a290d81ab358c1c455611d08f42e78fd18ac55
Original file line number Diff line number Diff line change
@@ -178,6 +178,7 @@
safety_check_backward_distance: 100.0 # [m]
hysteresis_factor_expand_rate: 1.5 # [-]
hysteresis_factor_safe_count: 3 # [-]
collision_check_yaw_diff_threshold: 3.1416 # [rad]
# predicted path parameters
min_velocity: 1.38 # [m/s]
max_velocity: 50.0 # [m/s]
Original file line number Diff line number Diff line change
@@ -182,6 +182,7 @@
time_horizon: 10.0
# hysteresis factor to expand/shrink polygon with the value
hysteresis_factor_expand_rate: 1.0
collision_check_yaw_diff_threshold: 3.1416
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
Original file line number Diff line number Diff line change
@@ -30,6 +30,7 @@
# safety check
safety_check:
allow_loose_check_for_cancel: true
collision_check_yaw_diff_threshold: 3.1416
execution:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
Original file line number Diff line number Diff line change
@@ -143,8 +143,10 @@
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path"
# hysteresis factor to expand/shrink polygon
hysteresis_factor_expand_rate: 1.0
collision_check_yaw_diff_threshold: 1.578
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
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