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feat(freespace_planning_algorithm): update freespace planner params #1080

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merged 5 commits into from
Jul 29, 2024
Merged

feat(freespace_planning_algorithm): update freespace planner params #1080

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7175983
update freespace planner params
mkquda Jul 19, 2024
f2fad09
update goal planner params
mkquda Jul 19, 2024
1a10f6b
update start planner params
mkquda Jul 19, 2024
3c25ff4
rename parameter
mkquda Jul 22, 2024
6e00033
change parameter value
mkquda Jul 22, 2024
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2 changes: 1 addition & 1 deletion autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
activate_by_scenario: False
grid_min_value: 0.0
grid_max_value: 1.0
grid_resolution: 0.2
grid_resolution: 0.3
grid_length_x: 70.0
grid_length_y: 70.0
grid_position_x: 0.0
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21 changes: 13 additions & 8 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Expand Up @@ -91,25 +91,30 @@
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
minimum_turning_radius: 5.0
maximum_turning_radius: 5.0
turning_radius_size: 1
max_turning_ratio: 0.5
turning_steps: 1
# search configs
search_configs:
theta_size: 144
theta_size: 120
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
curve_weight: 0.5
reverse_weight: 1.0
direction_change_weight: 1.5
# costmap configs
costmap_configs:
obstacle_threshold: 30
# -- A* search Configurations --
astar:
search_method: "forward" # options: forward, backward
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
use_back: true
adapt_expansion_distance: true
expansion_distance: 0.5
distance_heuristic_weight: 2.0
smoothness_weight: 0.5
obstacle_distance_weight: 1.75
# -- RRT* search Configurations --
rrtstar:
enable_update: true
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21 changes: 13 additions & 8 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -62,25 +62,30 @@
velocity: 1.0
vehicle_shape_margin: 1.0
time_limit: 3000.0
minimum_turning_radius: 5.0
maximum_turning_radius: 5.0
turning_radius_size: 1
max_turning_ratio: 0.7
turning_steps: 1
# search configs
search_configs:
theta_size: 144
theta_size: 120
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
curve_weight: 0.5
reverse_weight: 1.0
direction_change_weight: 1.5
# costmap configs
costmap_configs:
obstacle_threshold: 30
# -- A* search Configurations --
astar:
search_method: "forward" # options: forward, backward
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
use_back: true
adapt_expansion_distance: true
expansion_distance: 0.5
distance_heuristic_weight: 2.0
smoothness_weight: 0.5
obstacle_distance_weight: 1.75
# -- RRT* search Configurations --
rrtstar:
enable_update: true
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22 changes: 12 additions & 10 deletions .../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,27 +16,29 @@
# base configs
time_limit: 30000.0
# robot configs # TODO replace by vehicle_info
robot_length: 4.5
robot_width: 1.75
robot_base2back: 1.0
minimum_turning_radius: 9.0
maximum_turning_radius: 9.0
turning_radius_size: 1
max_turning_ratio: 0.5 # ratio of actual turning limit of vehicle
turning_steps: 1
# search configs
theta_size: 144
theta_size: 120
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 2.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
curve_weight: 0.5
reverse_weight: 1.0
direction_change_weight: 1.5
# costmap configs
obstacle_threshold: 100

# -- A* search Configurations --
astar:
search_method: "forward" # options: forward, backward
only_behind_solutions: false
use_back: true
distance_heuristic_weight: 1.0
adapt_expansion_distance: true
expansion_distance: 0.5
distance_heuristic_weight: 2.0
smoothness_weight: 0.5
obstacle_distance_weight: 1.75

# -- RRT* search Configurations --
rrtstar:
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