From 3145c5d8a8a9350ca52869ab812f8dc94aee4cca Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 6 Sep 2022 19:17:30 +0900 Subject: [PATCH] refactor(planning_launch): update params name for readability (#458) * refactor(planning_launch): update params name for readability Signed-off-by: satoshi-ota * refactor(planning_launch): add params to config Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota --- .../obstacle_stop_planner.param.yaml | 65 ++++++++++++------- 1 file changed, 43 insertions(+), 22 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 36421cf37a..55a21d6cd7 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -1,28 +1,49 @@ /**: ros__parameters: - hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s] + hunting_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s] + lowpass_gain: 0.9 # gain parameter for low pass filter [-] + max_velocity: 20.0 # max velocity [m/s] + enable_slow_down: False # whether to use slow down planner [-] stop_planner: - stop_margin: 5.0 # stop margin distance from obstacle on the path [m] - min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] - step_length: 1.0 # step length for pointcloud search range [m] - extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance - expand_stop_range: 0.0 # margin of vehicle footprint [m] - hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] + # params for stop position + stop_position: + max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] + min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] + hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] + + # params for detection area + detection_area: + lateral_margin: 0.0 # margin of vehicle footprint [m] + step_length: 1.0 # step length for pointcloud search range [m] + extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance [m] + slow_down_planner: - # slow down planner parameters - forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] - backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m] - expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] - max_slow_down_vel: 1.38 # max slow down velocity [m/s] - min_slow_down_vel: 0.28 # min slow down velocity [m/s] - - # slow down constraint parameters - consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel - forward_margin_min: 1.0 # min margin for relaxing slow down margin [m/s] - forward_margin_span: -0.1 # fineness param for relaxing slow down margin [m/s] - jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss] - jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss] - jerk_start: -0.1 # init jerk used for deceleration planning [m/sss] - slow_down_vel: 1.38 # target slow down velocity [m/s] + # params for slow down section + slow_down_section: + longitudinal_forward_margin: 5.0 # margin distance from slow down point to vehicle front [m] + longitudinal_backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m] + longitudinal_margin_span: -0.1 # fineness param for relaxing slow down margin (use this param if consider_constraints is True) [m/s] + min_longitudinal_forward_margin: 1.0 # min margin for relaxing slow down margin (use this param if consider_constraints is True) [m/s] + + # params for detection area + detection_area: + lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m] + + # params for velocity + target_velocity: + max_slow_down_velocity: 1.38 # max slow down velocity (use this param if consider_constraints is False)[m/s] + min_slow_down_velocity: 0.28 # min slow down velocity (use this param if consider_constraints is False)[m/s] + slow_down_velocity: 1.38 # target slow down velocity (use this param if consider_constraints is True)[m/s] + + # params for deceleration constraints (use this param if consider_constraints is True) + constraints: + jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss] + jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss] + jerk_start: -0.1 # init jerk used for deceleration planning [m/sss] + + # others + consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel [-] + velocity_threshold_decel_complete: 0.2 # use for judge whether the ego velocity converges the target slow down velocity [m/s] + acceleration_threshold_decel_complete: 0.1 # use for judge whether the ego velocity converges the target slow down velocity [m/ss]