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feat(dynamic drivable area expansion): add replan checker parameters #558

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feat(dynamic drivable area expansion): add replan checker parameters #558

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8982fe5
feat(dynamic drivable area expansion): add replan_checker params
maxime-clem Sep 7, 2023
5810f4e
Add debug_print param
maxime-clem Sep 8, 2023
be94d60
style(pre-commit): autofix
pre-commit-ci[bot] Sep 8, 2023
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7 changes: 6 additions & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,15 @@
# Dynamic expansion by projecting the ego footprint along the path
dynamic_expansion:
enabled: false
debug_print: false # if true, print some debug runtime measurements
ego:
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the ego footprint
rear: 0.5 # [m] extra length to add to the rear of the ego footprint
left: 0.5 # [m] extra length to add to the left of the ego footprint
right: 0.5 # [m] extra length to add to the rear of the ego footprint
dynamic_objects:
avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
Expand All @@ -37,3 +38,7 @@
compensate:
enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
extra_distance: 3.0 # [m] extra distance to add to the compensation
replan_checker:
enable: true # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly
# not compatible with dynamic_objects.avoid
max_deviation: 0.5 # [m] full replan is only done if the path changes by more than this distance