Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(dynamic_avoidance): avoid pedestrians #958

Merged
merged 8 commits into from
Apr 19, 2024
Merged

feat(dynamic_avoidance): avoid pedestrians #958

Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
0e1ce8a
enable to avoid against moving ped
yuki-takagi-66 Feb 29, 2024
f7d221d
debug
yuki-takagi-66 Mar 5, 2024
a9e984a
disable debug
yuki-takagi-66 Mar 6, 2024
0e2fd3b
add params
yuki-takagi-66 Apr 1, 2024
724b132
avoid ped
yuki-takagi-66 Apr 3, 2024
dd5654a
rename
yuki-takagi-66 Apr 17, 2024
c133782
change params
yuki-takagi-66 Apr 19, 2024
b21bf97
change param
yuki-takagi-66 Apr 19, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 7 additions & 2 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,9 @@
bus: true
trailer: true
unknown: false
bicycle: false
bicycle: true
motorcycle: true
pedestrian: false
pedestrian: true

max_obstacle_vel: 100.0 # [m/s]
min_obstacle_vel: 0.0 # [m/s]
Expand All @@ -40,6 +40,7 @@
max_overtaking_object_angle: 1.05
min_oncoming_object_vel: 1.0
max_oncoming_object_angle: 0.523
max_pedestrian_crossing_vel: 0.8

front_object:
max_object_angle: 0.785
Expand All @@ -55,6 +56,10 @@
min_longitudinal_polygon_margin: 3.0 # [m]

lat_offset_from_obstacle: 1.0 # [m]
margin_distance_around_pedestrian: 2.0 # [m]
predicted_path:
end_time_to_consider: 3.0 # [s]
threshold_confidence: 0.0 # [] not probability
max_lat_offset_to_avoid: 0.5 # [m]
max_time_for_object_lat_shift: 0.0 # [s]
lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
Expand Down
Loading