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

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Jul 1, 2024
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feat(behavior_path_planner): add yaw threshold param (#1040) #467

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1 change: 1 addition & 0 deletions ...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
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Expand Up @@ -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]
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1 change: 1 addition & 0 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Expand Up @@ -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
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1 change: 1 addition & 0 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Expand Up @@ -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
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2 changes: 2 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -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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