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chore: sync awf-latest-x1 #144

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May 22, 2023
Merged

chore: sync awf-latest-x1 #144

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10 changes: 7 additions & 3 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -86,15 +86,15 @@
collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]

cruise:
max_lat_margin: 0.8 # lateral margin between obstacle and trajectory band with ego's width
max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
outside_obstacle:
obstacle_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
ego_obstacle_overlap_time_threshold : 1.0 # 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

slow_down:
max_lat_margin: 0.7 # lateral margin between obstacle and trajectory band with ego's width
lat_hysteresis_margin: 0.1
max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width
lat_hysteresis_margin: 0.2

cruise:
pid_based_planner:
Expand Down Expand Up @@ -168,3 +168,7 @@
max_ego_velocity: 8.0

time_margin_on_target_velocity: 1.5 # [s]

lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start