From ccd004a3b514a9084cccc19b47a0819bdf6e3609 Mon Sep 17 00:00:00 2001
From: Shohei Sakai <saka1s.jp@gmail.com>
Date: Thu, 11 Apr 2024 08:42:35 +0900
Subject: [PATCH] feat: avoidance approval per maneuver v2.3.2 (#573)

* avoidance approval per maneuver

* tune lateral_execution_threshold to prevent sensitive behavior

* update parameter name

* Tune longitudinal distance from target
---
 .../avoidance/avoidance.param.yaml            | 38 ++++++++++---------
 1 file changed, 21 insertions(+), 17 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 41ad4ebe14..8ee1f5a0ad 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
@@ -36,8 +36,8 @@
           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.
+          safety_buffer_longitudinal: 5.0              # [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
@@ -47,8 +47,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         bus:
           is_target: true
           execute_num: 1
@@ -58,8 +58,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         trailer:
           is_target: true
           execute_num: 1
@@ -69,8 +69,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         unknown:
           is_target: false
           execute_num: 1
@@ -80,8 +80,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         bicycle:
           is_target: true
           execute_num: 1
@@ -91,8 +91,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         motorcycle:
           is_target: true
           execute_num: 1
@@ -102,8 +102,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         pedestrian:
           is_target: true
           execute_num: 1
@@ -113,8 +113,8 @@
           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
+          safety_buffer_longitudinal: 5.0
+          use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m]
         upper_distance_for_polygon_expansion: 100.0     # [m]
 
@@ -166,7 +166,7 @@
       avoidance:
         # avoidance lateral parameters
         lateral:
-          lateral_execution_threshold: 0.09             # [m]
+          lateral_execution_threshold: 0.5             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
           soft_road_shoulder_margin: 0.3                # [m]
@@ -193,6 +193,10 @@
         stop_buffer: 1.0                                # [m]
 
       policy:
+        # policy for rtc request. select "shift_line" or "maneuver".
+        # "shift_line": request approval for each shift line.
+        # "maneuver": request approval for avoidance maneuver (avoid + return).
+        approval: "maneuver"
         # policy for vehicle slow down behavior. select "best_effort" or "reliable".
         # "best_effort": slow down deceleration & jerk are limited by constraints.
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.