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refactor(behavior_path_planner): refactoring goal_planner and pull_out params #338

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May 4, 2023
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refactor(behavior_path_planner): refactoring goal_planner and pull_out params #338

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182 changes: 97 additions & 85 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,96 +1,108 @@
/**:
ros__parameters:
goal_planner:
# general params
minimum_request_length: 100.0
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
pull_over_velocity: 3.0
pull_over_minimum_velocity: 1.38
margin_from_boundary: 0.5
decide_path_distance: 10.0
maximum_deceleration: 1.0
maximum_jerk: 1.0

# goal search
search_priority: "efficient_path" # "efficient_path" or "close_goal"
parking_policy: "left_side" # "left_side" or "right_side"
forward_goal_search_length: 20.0
backward_goal_search_length: 20.0
goal_search_interval: 2.0
longitudinal_margin: 3.0
max_lateral_offset: 0.5
lateral_offset_interval: 0.25
ignore_distance_from_lane_start: 15.0
goal_search:
search_priority: "efficient_path" # "efficient_path" or "close_goal"
parking_policy: "left_side" # "left_side" or "right_side"
forward_goal_search_length: 20.0
backward_goal_search_length: 20.0
goal_search_interval: 2.0
longitudinal_margin: 3.0
max_lateral_offset: 0.5
lateral_offset_interval: 0.25
ignore_distance_from_lane_start: 15.0
margin_from_boundary: 0.5

# occupancy grid map
use_occupancy_grid: true
use_occupancy_grid_for_longitudinal_margin: false
occupancy_grid_collision_check_margin: 0.0
theta_size: 360
obstacle_threshold: 60
occupancy_grid:
use_occupancy_grid: true
use_occupancy_grid_for_longitudinal_margin: false
occupancy_grid_collision_check_margin: 0.0
theta_size: 360
obstacle_threshold: 60

# object recognition
use_object_recognition: true
object_recognition_collision_check_margin: 1.0
# shift path
enable_shift_parking: true
pull_over_sampling_num: 4
maximum_lateral_jerk: 2.0
minimum_lateral_jerk: 0.5
deceleration_interval: 15.0
after_pull_over_straight_distance: 1.0
# freespace parking
enable_freespace_parking: true
freespace_parking:
planning_algorithm: "astar" # options: astar, rrtstar
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
# search configs
theta_size: 144
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
# costmap configs
obstacle_threshold: 30
# -- A* search Configurations --
astar:
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
enable_update: true
use_informed_sampling: true
max_planning_time: 150.0
neighbor_radius: 8.0
margin: 1.0
# parallel parking path
enable_arc_forward_parking: true
enable_arc_backward_parking: true
after_forward_parking_straight_distance: 2.0
after_backward_parking_straight_distance: 2.0
forward_parking_velocity: 1.38
backward_parking_velocity: -1.38
forward_parking_lane_departure_margin: 0.0
backward_parking_lane_departure_margin: 0.0
arc_path_interval: 1.0
pull_over_max_steer_angle: 0.35 # 20deg
# hazard on when parked
hazard_on_threshold_distance: 1.0
hazard_on_threshold_velocity: 0.5
# check safety with dynamic objects. Not used now.
pull_over_duration: 2.0
pull_over_prepare_duration: 4.0
min_stop_distance: 5.0
stop_time: 2.0
hysteresis_buffer_distance: 2.0
prediction_time_resolution: 0.5
enable_collision_check_at_prepare_phase: false
use_predicted_path_outside_lanelet: false
use_all_predicted_path: false
object_recognition:
use_object_recognition: true
object_recognition_collision_check_margin: 1.0

# pull over
pull_over:
pull_over_velocity: 3.0
pull_over_minimum_velocity: 1.38
decide_path_distance: 10.0
maximum_deceleration: 1.0
maximum_jerk: 1.0

# shift parking
shift_parking:
enable_shift_parking: true
shift_sampling_num: 4
maximum_lateral_jerk: 2.0
minimum_lateral_jerk: 0.5
deceleration_interval: 15.0
after_shift_straight_distance: 1.0

# parallel parking path
parallel_parking:
path_interval: 1.0
max_steer_angle: 0.35 # 20deg
forward:
enable_arc_forward_parking: true
after_forward_parking_straight_distance: 2.0
forward_parking_velocity: 1.38
forward_parking_lane_departure_margin: 0.0
forward_parking_path_interval: 1.0
forward_parking_max_steer_angle: 0.35 # 20deg
backward:
enable_arc_backward_parking: true
after_backward_parking_straight_distance: 2.0
backward_parking_velocity: -1.38
backward_parking_lane_departure_margin: 0.0
backward_parking_path_interval: 1.0
backward_parking_max_steer_angle: 0.35 # 20deg

# freespace parking
freespace_parking:
enable_freespace_parking: true
freespace_parking_algorithm: "astar" # options: astar, rrtstar
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
# search configs
search_configs:
theta_size: 144
angle_goal_range: 6.0
curve_weight: 1.2
reverse_weight: 1.0
lateral_goal_range: 0.5
longitudinal_goal_range: 2.0
# costmap configs
costmap_configs:
obstacle_threshold: 30
# -- A* search Configurations --
astar:
only_behind_solutions: false
use_back: false
distance_heuristic_weight: 1.0
# -- RRT* search Configurations --
rrtstar:
enable_update: true
use_informed_sampling: true
max_planning_time: 150.0
neighbor_radius: 8.0
margin: 1.0

# debug
print_debug_info: false
debug:
print_debug_info: false