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feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #681

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merged 7 commits into from
Nov 14, 2023
Merged

feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #681

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54b9988
add moving parameters for testing
danielsanchezaran Oct 10, 2023
f831f5c
param tuning for tests
danielsanchezaran Oct 10, 2023
f280a78
wip params for velocity-based obscruise planner
danielsanchezaran Nov 6, 2023
8d8b75f
add different values for debugging
danielsanchezaran Nov 7, 2023
0ab947d
set hysteresis-based obstacle moving classification
danielsanchezaran Nov 7, 2023
f413583
set params to match previous values
danielsanchezaran Nov 13, 2023
451f0ec
eliminate pedestrian mention
danielsanchezaran Nov 13, 2023
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17 changes: 13 additions & 4 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -182,10 +182,19 @@
labels:
- "default"
default:
min_lat_margin: 0.2
max_lat_margin: 1.0
min_ego_velocity: 2.0
max_ego_velocity: 8.0
moving:
min_lat_margin: 0.2
max_lat_margin: 1.0
min_ego_velocity: 2.0
max_ego_velocity: 8.0
static:
min_lat_margin: 0.2
max_lat_margin: 1.0
min_ego_velocity: 2.0
max_ego_velocity: 8.0

moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"
moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold

time_margin_on_target_velocity: 1.5 # [s]

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