Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(behavior_path_planner): define hysteresis_factor_expand_rate #5002

Merged
merged 6 commits into from
Sep 16, 2023
Merged

fix(behavior_path_planner): define hysteresis_factor_expand_rate #5002

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
b21d4ab
define hysteresis_factor_expand_rate
kyoichi-sugahara Sep 14, 2023
0399116
add hysteresis_factor_expand_rate in SafetyCheckParams
kyoichi-sugahara Sep 15, 2023
4b38b5a
style(pre-commit): autofix
pre-commit-ci[bot] Sep 15, 2023
aa452d9
revert unnecessary change
kyoichi-sugahara Sep 15, 2023
6e07cde
Merge branch 'main' into fix/define_hysteresis_factor_expand_rate
kyoichi-sugahara Sep 15, 2023
982b0be
Merge branch 'main' into fix/define_hysteresis_factor_expand_rate
kyoichi-sugahara Sep 16, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/config/goal_planner/goal_planner.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,8 @@
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
# hysteresis factor to expand/shrink polygon with the value
hysteresis_factor_expand_rate: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/config/start_planner/start_planner.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,8 @@
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
# hysteresis factor to expand/shrink polygon
hysteresis_factor_expand_rate: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0
4 changes: 3 additions & 1 deletion ...nclude/behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,9 @@ struct ObjectsFilteringParams
*/
struct SafetyCheckParams
{
bool enable_safety_check; ///< Enable safety checks.
bool enable_safety_check; ///< Enable safety checks.
double
hysteresis_factor_expand_rate; ///< Hysteresis factor to expand/shrink polygon with the value.
double backward_path_length; ///< Length of the backward lane for path generation.
double forward_path_length; ///< Length of the forward path lane for path generation.
RSSparams rss_params; ///< Parameters related to the RSS model.
Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -316,6 +316,8 @@ GoalPlannerModuleManager::GoalPlannerModuleManager(
{
p.safety_check_params.enable_safety_check =
node->declare_parameter<bool>(safety_check_ns + "enable_safety_check");
p.safety_check_params.hysteresis_factor_expand_rate =
node->declare_parameter<double>(safety_check_ns + "hysteresis_factor_expand_rate");
p.safety_check_params.backward_path_length =
node->declare_parameter<double>(safety_check_ns + "backward_path_length");
p.safety_check_params.forward_path_length =
Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -243,6 +243,8 @@ StartPlannerModuleManager::StartPlannerModuleManager(
{
p.safety_check_params.enable_safety_check =
node->declare_parameter<bool>(safety_check_ns + "enable_safety_check");
p.safety_check_params.hysteresis_factor_expand_rate =
node->declare_parameter<double>(safety_check_ns + "hysteresis_factor_expand_rate");
p.safety_check_params.backward_path_length =
node->declare_parameter<double>(safety_check_ns + "backward_path_length");
p.safety_check_params.forward_path_length =
Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1004,7 +1004,7 @@ bool StartPlannerModule::isSafePath() const
current_lanes, route_handler, filtered_objects, objects_filtering_params_);

const double hysteresis_factor =
status_.is_safe_dynamic_objects ? 1.0 : parameters_->hysteresis_factor_expand_rate;
status_.is_safe_dynamic_objects ? 1.0 : safety_check_params_->hysteresis_factor_expand_rate;

utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData(
start_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path);
Expand Down