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Merge pull request #1132 from kyoichi-sugahara/hotfix/v0.44.0/goal_pl…
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…anner_safety_check

feat(goal_planner): cherry pick
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@shmpwk
shmpwk authored Feb 8, 2024
2 parents 619e7f1 + 1d5c44c commit cc4ceaa
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3 changes: 1 addition & 2 deletions planning/behavior_path_goal_planner_module/config/goal_planner.param.yaml
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Expand Up @@ -127,7 +127,7 @@
delay_until_departure: 1.0
# For target object filtering
target_filtering:
safety_check_time_horizon: 5.0
safety_check_time_horizon: 10.0
safety_check_time_resolution: 1.0
# detection range
object_check_forward_distance: 10.0
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method: "integral_predicted_polygon"
keep_unsafe_time: 3.0
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 2.0
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50 changes: 25 additions & 25 deletions planning/behavior_path_start_planner_module/README.md
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Expand Up @@ -149,31 +149,31 @@ Parameters under `path_safety_check.ego_predicted_path` specify the ego vehicle'

Parameters under `target_filtering` are related to filtering target objects for safety check.

| Name | Unit | Type | Description | Default value |
| :---------------------------------------------- | :---- | :----- | :------------------------------------------------- | :------------ |
| safety_check_time_horizon | [s] | double | Time horizon for safety check | 5.0 |
| safety_check_time_resolution | [s] | double | Time resolution for safety check | 1.0 |
| object_check_forward_distance | [m] | double | Forward distance for object detection | 10.0 |
| object_check_backward_distance | [m] | double | Backward distance for object detection | 100.0 |
| ignore_object_velocity_threshold | [m/s] | double | Velocity threshold below which objects are ignored | 1.0 |
| object_types_to_check.check_car | - | bool | Flag to check cars | true |
| object_types_to_check.check_truck | - | bool | Flag to check trucks | true |
| object_types_to_check.check_bus | - | bool | Flag to check buses | true |
| object_types_to_check.check_trailer | - | bool | Flag to check trailers | true |
| object_types_to_check.check_bicycle | - | bool | Flag to check bicycles | true |
| object_types_to_check.check_motorcycle | - | bool | Flag to check motorcycles | true |
| object_types_to_check.check_pedestrian | - | bool | Flag to check pedestrians | true |
| object_types_to_check.check_unknown | - | bool | Flag to check unknown object types | false |
| object_lane_configuration.check_current_lane | - | bool | Flag to check the current lane | true |
| object_lane_configuration.check_right_side_lane | - | bool | Flag to check the right side lane | true |
| object_lane_configuration.check_left_side_lane | - | bool | Flag to check the left side lane | true |
| object_lane_configuration.check_shoulder_lane | - | bool | Flag to check the shoulder lane | true |
| object_lane_configuration.check_other_lane | - | bool | Flag to check other lanes | false |
| include_opposite_lane | - | bool | Flag to include the opposite lane in check | false |
| invert_opposite_lane | - | bool | Flag to invert the opposite lane check | false |
| check_all_predicted_path | - | bool | Flag to check all predicted paths | true |
| use_all_predicted_path | - | bool | Flag to use all predicted paths | true |
| use_predicted_path_outside_lanelet | - | bool | Flag to use predicted paths outside of lanelets | false |
| Name | Unit | Type | Description | Default value |
| :---------------------------------------------- | :---- | :----- | :----------------------------------------------------------------- | :------------ |
| safety_check_time_horizon | [s] | double | Time horizon for predicted paths of the ego and dynamic objects | 5.0 |
| safety_check_time_resolution | [s] | double | Time resolution for predicted paths of the ego and dynamic objects | 1.0 |
| object_check_forward_distance | [m] | double | Forward distance for object detection | 10.0 |
| object_check_backward_distance | [m] | double | Backward distance for object detection | 100.0 |
| ignore_object_velocity_threshold | [m/s] | double | Velocity threshold below which objects are ignored | 1.0 |
| object_types_to_check.check_car | - | bool | Flag to check cars | true |
| object_types_to_check.check_truck | - | bool | Flag to check trucks | true |
| object_types_to_check.check_bus | - | bool | Flag to check buses | true |
| object_types_to_check.check_trailer | - | bool | Flag to check trailers | true |
| object_types_to_check.check_bicycle | - | bool | Flag to check bicycles | true |
| object_types_to_check.check_motorcycle | - | bool | Flag to check motorcycles | true |
| object_types_to_check.check_pedestrian | - | bool | Flag to check pedestrians | true |
| object_types_to_check.check_unknown | - | bool | Flag to check unknown object types | false |
| object_lane_configuration.check_current_lane | - | bool | Flag to check the current lane | true |
| object_lane_configuration.check_right_side_lane | - | bool | Flag to check the right side lane | true |
| object_lane_configuration.check_left_side_lane | - | bool | Flag to check the left side lane | true |
| object_lane_configuration.check_shoulder_lane | - | bool | Flag to check the shoulder lane | true |
| object_lane_configuration.check_other_lane | - | bool | Flag to check other lanes | false |
| include_opposite_lane | - | bool | Flag to include the opposite lane in check | false |
| invert_opposite_lane | - | bool | Flag to invert the opposite lane check | false |
| check_all_predicted_path | - | bool | Flag to check all predicted paths | true |
| use_all_predicted_path | - | bool | Flag to use all predicted paths | true |
| use_predicted_path_outside_lanelet | - | bool | Flag to use predicted paths outside of lanelets | false |

### Safety Check Parameters

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1 change: 0 additions & 1 deletion planning/behavior_path_start_planner_module/config/start_planner.param.yaml
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Expand Up @@ -125,7 +125,6 @@
# safety check configuration
enable_safety_check: true
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 2.0
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