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feat(avoidance): configurable object type for safety check #709

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Nov 28, 2023
+33 −16
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feat(avoidance): configurable object type for safety check #709

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28 changes: 20 additions & 8 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@
# avoidance is performed for the object type with true
target_object:
car:
is_target: true # [-]
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
Expand All @@ -38,7 +37,6 @@
safety_buffer_longitudinal: 0.0 # [m]
use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
truck:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -49,7 +47,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -60,7 +57,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -71,7 +67,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
Expand All @@ -82,7 +77,6 @@
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
Expand All @@ -93,7 +87,6 @@
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
is_target: true
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -104,7 +97,6 @@
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
Expand All @@ -119,6 +111,16 @@

# For target object filtering
target_filtering:
# avoidance target type
target_type:
car: true # [-]
truck: true # [-]
bus: true # [-]
trailer: true # [-]
unknown: true # [-]
bicycle: true # [-]
motorcycle: true # [-]
pedestrian: true # [-]
# detection range
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
Expand Down Expand Up @@ -152,6 +154,16 @@

# For safety check
safety_check:
# safety check target type
target_type:
car: true # [-]
truck: true # [-]
bus: true # [-]
trailer: true # [-]
unknown: false # [-]
bicycle: true # [-]
motorcycle: true # [-]
pedestrian: true # [-]
# safety check configuration
enable: true # [-]
check_current_lane: false # [-]
Expand Down
21 changes: 13 additions & 8 deletions ...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@
# avoidance is performed for the object type with true
target_object:
car:
is_target: true # [-]
execute_num: 2 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
Expand All @@ -16,7 +15,6 @@
avoid_margin_lateral: 0.0 # [m]
safety_buffer_lateral: 0.0 # [m]
truck:
is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -25,7 +23,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
bus:
is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -34,7 +31,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
trailer:
is_target: true
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -43,7 +39,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
unknown:
is_target: true
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
Expand All @@ -52,7 +47,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 0.0
bicycle:
is_target: false
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
Expand All @@ -61,7 +55,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
motorcycle:
is_target: false
execute_num: 2
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
Expand All @@ -70,7 +63,6 @@
avoid_margin_lateral: 0.0
safety_buffer_lateral: 1.0
pedestrian:
is_target: false
execute_num: 2
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
Expand All @@ -80,3 +72,16 @@
safety_buffer_lateral: 1.0
lower_distance_for_polygon_expansion: 0.0 # [m]
upper_distance_for_polygon_expansion: 1.0 # [m]

# For target object filtering
target_filtering:
# avoidance target type
target_type:
car: true # [-]
truck: true # [-]
bus: true # [-]
trailer: true # [-]
unknown: true # [-]
bicycle: false # [-]
motorcycle: false # [-]
pedestrian: false # [-]
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