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refactor(lane_change): refactor lane change parameters (autowarefound…
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…ation#1247)

refactor lane change params

Signed-off-by: mohammad alqudah <[email protected]>
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mkquda authored Nov 26, 2024
1 parent 350083c commit ce7fe45
Showing 1 changed file with 23 additions and 28 deletions.
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/**:
ros__parameters:
lane_change:
backward_lane_length: 200.0 #[m]
prepare_duration: 4.0 # [s]

backward_lane_length: 200.0
backward_length_buffer_for_end_of_lane: 3.0 # [m]
backward_length_buffer_for_blocking_object: 3.0 # [m]
backward_length_from_intersection: 5.0 # [m]

lane_changing_lateral_jerk: 0.5 # [m/s3]

minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
longitudinal_acceleration_sampling_num: 5
lateral_acceleration_sampling_num: 3

# side walk parked vehicle
object_check_min_road_shoulder_width: 0.5 # [m]
object_shiftable_ratio_threshold: 0.6

# turn signal
min_length_for_turn_signal_activation: 10.0 # [m]
length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)

# longitudinal acceleration
min_longitudinal_acc: -1.0
max_longitudinal_acc: 1.0

skip_process:
longitudinal_distance_diff_threshold:
prepare: 1.0
lane_changing: 1.0
# trajectory generation
trajectory:
prepare_duration: 4.0
lateral_jerk: 0.5
min_longitudinal_acc: -1.0
max_longitudinal_acc: 1.0
th_prepare_length_diff: 1.0
th_lane_changing_length_diff: 1.0
min_lane_changing_velocity: 2.78
lon_acc_sampling_num: 5
lat_acc_sampling_num: 3

# safety check
safety_check:
allow_loose_check_for_cancel: true
enable_target_lane_bound_check: true
collision_check_yaw_diff_threshold: 3.1416
stopped_object_velocity_threshold: 1.0 # [m/s]
execution:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
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pedestrian: true

# collision check
enable_collision_check_for_prepare_phase:
general_lanes: false
intersection: true
turns: true
stopped_object_velocity_threshold: 1.0 # [m/s]
check_objects_on_current_lanes: false
check_objects_on_other_lanes: false
use_all_predicted_path: false
collision_check:
enable_for_prepare_phase:
general_lanes: false
intersection: true
turns: true
prediction_time_resolution: 0.5
yaw_diff_threshold: 3.1416
check_current_lanes: false
check_other_lanes: false
use_all_predicted_paths: false

# lane change regulations
regulation:
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