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refactor(avoidance): rebuild parameter structure (#6786)
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* refactor(avoidance): unify similar param

Signed-off-by: satoshi-ota <[email protected]>

* refactor(avoidance): rename misreading params

Signed-off-by: satoshi-ota <[email protected]>

* refactor(avoidance): update parameter namespace

Signed-off-by: satoshi-ota <[email protected]>

* refactor(avoidance): use prefix th instead of threshold

Signed-off-by: satoshi-ota <[email protected]>

* refactor(avoidance): rename params

Signed-off-by: satoshi-ota <[email protected]>

* refactor(AbLC): rename params

Signed-off-by: satoshi-ota <[email protected]>

* refactor(avoidance): update yaml

Signed-off-by: satoshi-ota <[email protected]>

* refactor(AbLC): update yaml

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
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@satoshi-ota
satoshi-ota authored Apr 11, 2024
1 parent 06bb9bd commit a06122c
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Showing 10 changed files with 268 additions and 289 deletions.
52 changes: 22 additions & 30 deletions .../behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@
target_object:
car:
execute_num: 2 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
th_moving_speed: 1.0 # [m/s]
th_moving_time: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
lateral_margin:
Expand All @@ -18,8 +18,8 @@
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
Expand All @@ -28,8 +28,8 @@
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
Expand All @@ -38,8 +38,8 @@
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
Expand All @@ -48,8 +48,8 @@
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
lateral_margin:
Expand All @@ -58,34 +58,34 @@
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
lateral_margin:
soft_margin: 0.0 # [m]
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]

Expand All @@ -101,11 +101,3 @@
bicycle: false # [-]
motorcycle: false # [-]
pedestrian: false # [-]

constraints:
# lateral constraints
lateral:
velocity: [1.0, 1.38, 11.1] # [m/s]
max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
max_jerk_values: [1.0, 1.0, 1.0] # [m/sss]
24 changes: 13 additions & 11 deletions planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,10 +65,8 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
const auto get_object_param = [&](std::string && ns) {
ObjectParameter param{};
param.execute_num = getOrDeclareParameter<int>(*node, ns + "execute_num");
param.moving_speed_threshold =
getOrDeclareParameter<double>(*node, ns + "moving_speed_threshold");
param.moving_time_threshold =
getOrDeclareParameter<double>(*node, ns + "moving_time_threshold");
param.moving_speed_threshold = getOrDeclareParameter<double>(*node, ns + "th_moving_speed");
param.moving_time_threshold = getOrDeclareParameter<double>(*node, ns + "th_moving_time");
param.max_expand_ratio = getOrDeclareParameter<double>(*node, ns + "max_expand_ratio");
param.envelope_buffer_margin =
getOrDeclareParameter<double>(*node, ns + "envelope_buffer_margin");
Expand Down Expand Up @@ -121,14 +119,18 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)

p.object_check_goal_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_goal_distance");
p.object_last_seen_threshold =
getOrDeclareParameter<double>(*node, ns + "max_compensation_time");
}

{
const std::string ns = "avoidance.target_filtering.parked_vehicle.";
p.threshold_distance_object_is_on_center =
getOrDeclareParameter<double>(*node, ns + "threshold_distance_object_is_on_center");
getOrDeclareParameter<double>(*node, ns + "th_offset_from_centerline");
p.object_check_shiftable_ratio =
getOrDeclareParameter<double>(*node, ns + "object_check_shiftable_ratio");
getOrDeclareParameter<double>(*node, ns + "th_shiftable_ratio");
p.object_check_min_road_shoulder_width =
getOrDeclareParameter<double>(*node, ns + "object_check_min_road_shoulder_width");
p.object_last_seen_threshold =
getOrDeclareParameter<double>(*node, ns + "object_last_seen_threshold");
getOrDeclareParameter<double>(*node, ns + "min_road_shoulder_width");
}

{
Expand All @@ -137,9 +139,9 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
p.closest_distance_to_wait_and_see_for_ambiguous_vehicle =
getOrDeclareParameter<double>(*node, ns + "closest_distance_to_wait_and_see");
p.time_threshold_for_ambiguous_vehicle =
getOrDeclareParameter<double>(*node, ns + "condition.time_threshold");
getOrDeclareParameter<double>(*node, ns + "condition.th_stopped_time");
p.distance_threshold_for_ambiguous_vehicle =
getOrDeclareParameter<double>(*node, ns + "condition.distance_threshold");
getOrDeclareParameter<double>(*node, ns + "condition.th_moving_distance");
p.object_ignore_section_traffic_light_in_front_distance =
getOrDeclareParameter<double>(*node, ns + "ignore_area.traffic_light.front_distance");
p.object_ignore_section_crosswalk_in_front_distance =
Expand Down
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