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feat(run_out): add parameter to decide whether to use the object's velocity #704

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Nov 26, 2023
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feat(run_out): add parameter to decide whether to use the object's velocity #704

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19 changes: 11 additions & 8 deletions ...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
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Expand Up @@ -21,14 +21,17 @@

# parameter to create abstracted dynamic obstacles
dynamic_obstacle:
use_mandatory_area: false # [-] whether to use mandatory detection area
min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles
max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles
diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points
height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points
max_prediction_time: 10.0 # [sec] create predicted path until this time
time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
use_mandatory_area: false # [-] whether to use mandatory detection area
assume_fixed_velocity:
enable: false # [-] If enabled, the obstacle's velocity is assumed to be within the minimum and maximum velocity values specified below
min_vel_kmph: 0.0 # [km/h] minimum velocity for dynamic obstacles
max_vel_kmph: 5.0 # [km/h] maximum velocity for dynamic obstacles
std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance
diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points
height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points
max_prediction_time: 10.0 # [sec] create predicted path until this time
time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method

# approach if ego has stopped in the front of the obstacle for a certain amount of time
approaching:
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