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feat(out_of_lane): more stable decisions #612

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merged 3 commits into from
Nov 16, 2023
Merged

feat(out_of_lane): more stable decisions #612

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7b1105c
Add param for distance buffer with dynamic objects
maxime-clem Sep 25, 2023
6b237ef
Add action.min_duration parameter
maxime-clem Sep 28, 2023
28d4166
Merge branch 'main' into feat/out_of_lane-more_stable-universe
maxime-clem Nov 15, 2023
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4 changes: 3 additions & 1 deletion ..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
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Expand Up @@ -2,7 +2,7 @@
ros__parameters:
out_of_lane: # module to stop or slowdown before overlapping another lane with other objects
mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane
skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane

threshold:
time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time
Expand All @@ -17,6 +17,7 @@
use_predicted_paths: true # if true, use the predicted paths to estimate future positions.
# if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value.
distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane

overlap:
minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered
Expand All @@ -26,6 +27,7 @@
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
precision: 0.1 # [m] precision when inserting a stop pose in the path
distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
slowdown:
distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
velocity: 2.0 # [m/s] slowdown velocity
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