From c3bad35be9413b3afa1531c7504543127e8afc7a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 7 Mar 2024 10:17:50 +0900 Subject: [PATCH] feat(avoidance): change lateral margin based on if it's parked vehicle (#894) * feat(avoidance): change lateral margin based on if it's parked vehicle Signed-off-by: satoshi-ota * fix(AbLC): update values Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 48 ++++++++++++------- .../avoidance_by_lc.param.yaml | 48 ++++++++++++------- 2 files changed, 64 insertions(+), 32 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c1801566f2..408d959cc4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -31,40 +31,48 @@ execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] + lateral_margin: + soft_margin: 1.0 # [m] + hard_margin: 0.1 # [m] + hard_margin_for_parked_vehicle: 0.1 # [m] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.1 # [m] safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: false # [-] 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 + lateral_margin: + soft_margin: 1.0 # [m] + hard_margin: 0.4 # [m] + hard_margin_for_parked_vehicle: 0.4 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.4 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false bus: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.8 # [m] + hard_margin_for_parked_vehicle: 0.8 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.8 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false trailer: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.8 # [m] + hard_margin_for_parked_vehicle: 0.8 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.8 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false unknown: @@ -72,40 +80,48 @@ execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 1.0 # [m] + hard_margin: 0.7 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 1.0 - safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false bicycle: execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: false motorcycle: execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: false pedestrian: execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: false lower_distance_for_polygon_expansion: 30.0 # [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index 74c6112c0e..ce0ba25700 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -12,64 +12,80 @@ moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 0.0 # [m] - safety_buffer_lateral: 0.0 # [m] + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] truck: execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] bus: execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] trailer: execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] 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: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: execute_num: 2 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: 0.0 - safety_buffer_lateral: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: execute_num: 2 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: 0.0 - safety_buffer_lateral: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: execute_num: 2 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: 0.0 - safety_buffer_lateral: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m]