From 6ed2334760d80f45976304d04c8ac781e4743b4b Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Tue, 21 Nov 2023 22:48:03 +0900 Subject: [PATCH 1/2] feat(goal_planner): safer safety checker Signed-off-by: kosuke55 fix fix fix fix --- .../goal_planner/goal_planner.param.yaml | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d04676f365..d339ed99ff 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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 +159,8 @@ # 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: true + method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true @@ -170,6 +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 From 34c1bc16ac053d1b447ade12c8c23a2593b320bc Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Sun, 26 Nov 2023 23:17:06 +0900 Subject: [PATCH 2/2] disable safety check Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index d339ed99ff..118268d854 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -159,7 +159,7 @@ # For safety check safety_check_params: # safety check configuration - enable_safety_check: true + enable_safety_check: false # Don't set to true if auto_mode is enabled method: "integral_predicted_polygon" keep_unsafe_time: 3.0 # collision check parameters