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feat(planning_launch): update param for cruise improvement (autowaref…
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…oundation#614)

* feat(planning_launch): update param for cruise improvement

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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takayuki5168 authored Dec 18, 2022
1 parent 4be7fca commit d5759e9
Showing 1 changed file with 34 additions and 11 deletions.
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planning_algorithm: "pid_base" # currently supported algorithm is "pid_base"

is_showing_debug_info: false
disable_stop_planning: false # true

# longitudinal info
idling_time: 1.5 # idling time to detect front vehicle starting deceleration [s]
idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]

lpf_gain_for_accel: 0.2 # gain of low pass filter for ego acceleration [-]

nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
min_behavior_stop_margin: 3.0 # [m]
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bus: true
trailer: true
motorcycle: true
bicycle: false
bicycle: true
pedestrian: false

stop_obstacle_type:
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pedestrian: true

pid_based_planner:
# use_predicted_obstacle_pose: false
use_velocity_limit_based_planner: true
error_function_type: quadratic # choose from linear, quadratic

# PID gains to keep safe distance with the front vehicle
kp: 2.5
ki: 0.0
kd: 2.3
velocity_limit_based_planner:
# PID gains to keep safe distance with the front vehicle
kp: 10.0
ki: 0.0
kd: 2.0

min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]

enable_jerk_limit_to_output_acc: false

disable_target_acceleration: true

output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
vel_to_acc_weight: 3.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]
velocity_insertion_based_planner:
kp_acc: 6.0
ki_acc: 0.0
kd_acc: 2.0

kp_jerk: 20.0
ki_jerk: 0.0
kd_jerk: 0.0

output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]

enable_jerk_limit_to_output_acc: true

min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s]
time_to_evaluate_rss: 0.0

lpf_cruise_gain: 0.2
lpf_normalized_error_cruise_dist_gain: 0.2

optimization_based_planner:
dense_resampling_time_interval: 0.2
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