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feat(obstacle_cruise_planner): yield function for ocp #837

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merged 11 commits into from
Feb 5, 2024
Merged

feat(obstacle_cruise_planner): yield function for ocp #837

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21782c3
add params for yield
danielsanchezaran Jan 23, 2024
c9e0e38
param name change
danielsanchezaran Jan 23, 2024
1263ff4
add params
danielsanchezaran Jan 24, 2024
c31c5a0
refactoring
danielsanchezaran Jan 25, 2024
0c60371
fix typo, tuning
danielsanchezaran Jan 25, 2024
171deb5
update parameters
danielsanchezaran Jan 25, 2024
b86373e
delete unused param
danielsanchezaran Jan 25, 2024
ee43e66
set cruise planner as default for testing
danielsanchezaran Jan 29, 2024
497b309
add param for stopped obj speed threshold
danielsanchezaran Jan 30, 2024
651d755
change back param
danielsanchezaran Jan 31, 2024
843db4a
set default false
danielsanchezaran Jan 31, 2024
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7 changes: 6 additions & 1 deletion ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -95,7 +95,12 @@
obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s]
max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego

yield:
enable_yield: false
lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
max_obstacles_collision_time: 10.0 # how far the blocking obstacle
stopped_obstacle_velocity_threshold: 0.5
slow_down:
max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width
lat_hysteresis_margin: 0.2
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