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refactor(lane_change): rearrange params for object filtering #697

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refactor(lane_change): rearrange params for object filtering #697

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46 changes: 24 additions & 22 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,29 @@

# safety check
safety_check:
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: true
bicycle: true
motorcycle: true
pedestrian: true

velocity_threshold_to_ignore: 1.0 # [m/s] # object with velocity under this threshold will be ignored
check_during_prepare_segment: false # perform collision check during lane change prepare segment
check_all_predicted_path: true
check_objects_on_current_lanes: true
check_objects_on_other_lanes: true

# lane expansion for object filtering
lane_expansion:
left_offset: 0.0 # [m]
right_offset: 0.0 # [m]

allow_loose_check_for_cancel: true

execution:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
Expand All @@ -38,6 +60,7 @@
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8

cancel:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
Expand All @@ -46,6 +69,7 @@
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 2.5
longitudinal_velocity_delta_time: 0.6

stuck:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
Expand All @@ -55,34 +79,12 @@
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8

# lane expansion for object filtering
lane_expansion:
left_offset: 0.0 # [m]
right_offset: 0.0 # [m]

# lateral acceleration map
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]
min_values: [0.15, 0.15, 0.15]
max_values: [0.5, 0.5, 0.5]

# target object
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: true
bicycle: true
motorcycle: true
pedestrian: true

# collision check
enable_prepare_segment_collision_check: false
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
check_objects_on_current_lanes: true
check_objects_on_other_lanes: true
use_all_predicted_path: true

# lane change regulations
regulation:
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