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fix(avoidance): apply params used in xx1 vehicle #751

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merged 2 commits into from
Dec 26, 2023
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fix(avoidance): apply params used in xx1 vehicle #751

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6ec1fc7
fix(avoidance): use xx1 params
satoshi-ota Dec 6, 2023
92056f5
fix(avoidance): expand safety check polygon lateral margin
satoshi-ota Dec 23, 2023
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64 changes: 32 additions & 32 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 @@ -29,81 +29,81 @@
car:
execute_num: 1 # [-]
moving_speed_threshold: 1.0 # [m/s]
moving_time_threshold: 1.0 # [s]
moving_time_threshold: 2.0 # [s]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
avoid_margin_lateral: 1.0 # [m]
safety_buffer_lateral: 0.7 # [m]
envelope_buffer_margin: 0.5 # [m]
avoid_margin_lateral: 0.7 # [m]
safety_buffer_lateral: 0.3 # [m]
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:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
moving_speed_threshold: 2.0 # 7.2km/h
moving_time_threshold: 2.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bus:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
moving_speed_threshold: 2.0 # 7.2km/h
moving_time_threshold: 2.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
trailer:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
moving_speed_threshold: 2.0 # 7.2km/h
moving_time_threshold: 2.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.9
safety_buffer_lateral: 0.1
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
unknown:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
avoid_margin_lateral: 1.0
safety_buffer_lateral: 0.7
envelope_buffer_margin: 0.1
avoid_margin_lateral: 0.7
safety_buffer_lateral: -0.2
safety_buffer_longitudinal: 0.0
use_conservative_buffer_longitudinal: true
bicycle:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 1.0
safety_buffer_lateral: 1.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
motorcycle:
execute_num: 1
moving_speed_threshold: 1.0 # 3.6km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 1.0
safety_buffer_lateral: 1.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.3
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
pedestrian:
execute_num: 1
moving_speed_threshold: 0.28 # 1.0km/h
moving_time_threshold: 1.0
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
avoid_margin_lateral: 1.0
safety_buffer_lateral: 1.0
envelope_buffer_margin: 0.5
avoid_margin_lateral: 0.7
safety_buffer_lateral: 0.5
safety_buffer_longitudinal: 1.0
use_conservative_buffer_longitudinal: true
lower_distance_for_polygon_expansion: 30.0 # [m]
Expand Down Expand Up @@ -189,7 +189,7 @@
expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
rear_vehicle_safety_time_margin: 1.0 # [s]
lateral_distance_max_threshold: 0.75 # [m]
lateral_distance_max_threshold: 2.0 # [m]
longitudinal_distance_min_threshold: 3.0 # [m]
longitudinal_velocity_delta_time: 0.8 # [s]

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