feat(obstacle_cruise_planner): yield function for ocp (autowarefounda…

…tion#837) * add params for yield Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * param name change Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactoring Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix typo, tuning Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * update parameters Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * delete unused param Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * set cruise planner as default for testing Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add param for stopped obj speed threshold Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change back param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * set default false Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
tier4 · Mar 6, 2024 · d6a0d48 · d6a0d48
1 parent 1782b6a
commit d6a0d48
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -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