From d5759e9a937bd2d80e4e5754786a19f18108cf8e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 18 Dec 2022 13:23:35 +0900 Subject: [PATCH] feat(planning_launch): update param for cruise improvement (#614) * feat(planning_launch): update param for cruise improvement Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 45 ++++++++++++++----- 1 file changed, 34 insertions(+), 11 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index ad2462c790..dfc2b2e6dd 100644 --- a/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -4,14 +4,17 @@ 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] @@ -25,7 +28,7 @@ bus: true trailer: true motorcycle: true - bicycle: false + bicycle: true pedestrian: false stop_obstacle_type: @@ -72,21 +75,41 @@ 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