feat(goal_planner): safer safety checker

Signed-off-by: kosuke55 <[email protected]> fix fix fix fix
autowarefoundation · Nov 25, 2023 · c622aa6 · c622aa6
1 parent d466161
commit c622aa6
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -130,7 +130,7 @@
           safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
-          object_check_forward_distance: 10.0
+          object_check_forward_distance: 100.0
           object_check_backward_distance: 100.0
           ignore_object_velocity_threshold: 1.0
           # ObjectTypesToCheck
@@ -159,7 +159,9 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: false # Don't set to true if auto_mode is enabled
+          enable_safety_check: false
+          method: "integral_predicted_polygon"
+          keep_unsafe_time: 3.0
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
@@ -169,6 +171,11 @@
             lateral_distance_max_threshold: 2.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
+          integral_predicted_polygon_params:
+            forward_margin: 1.0
+            backward_margin: 1.0
+            lat_margin: 1.0
+            time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           # temporary