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feat(dynamic_avoidance): add max obstacle vel (#5142) #879

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feat(dynamic_avoidance): add max obstacle vel (#5142) #879

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1 change: 1 addition & 0 deletions planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
motorcycle: true
pedestrian: false

max_obstacle_vel: 100.0 # [m/s]
min_obstacle_vel: 0.0 # [m/s]

successive_num_to_entry_dynamic_avoidance_condition: 5
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1 change: 1 addition & 0 deletions ...include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
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Expand Up @@ -56,6 +56,7 @@ struct DynamicAvoidanceParameters
bool avoid_bicycle{false};
bool avoid_motorcycle{false};
bool avoid_pedestrian{false};
double max_obstacle_vel{0.0};
double min_obstacle_vel{0.0};
int successive_num_to_entry_dynamic_avoidance_condition{0};
int successive_num_to_exit_dynamic_avoidance_condition{0};
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6 changes: 4 additions & 2 deletions ...ing/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
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Expand Up @@ -383,10 +383,12 @@ void DynamicAvoidanceModule::updateTargetObjects()
continue;
}

// 1.b. check if velocity is large enough
// 1.b. check obstacle velocity
const auto [obj_tangent_vel, obj_normal_vel] =
projectObstacleVelocityToTrajectory(prev_module_path->points, predicted_object);
if (std::abs(obj_tangent_vel) < parameters_->min_obstacle_vel) {
if (
std::abs(obj_tangent_vel) < parameters_->min_obstacle_vel ||
parameters_->max_obstacle_vel < std::abs(obj_tangent_vel)) {
continue;
}

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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
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Expand Up @@ -45,6 +45,7 @@ DynamicAvoidanceModuleManager::DynamicAvoidanceModuleManager(
p.avoid_bicycle = node->declare_parameter<bool>(ns + "bicycle");
p.avoid_motorcycle = node->declare_parameter<bool>(ns + "motorcycle");
p.avoid_pedestrian = node->declare_parameter<bool>(ns + "pedestrian");
p.max_obstacle_vel = node->declare_parameter<double>(ns + "max_obstacle_vel");
p.min_obstacle_vel = node->declare_parameter<double>(ns + "min_obstacle_vel");
p.successive_num_to_entry_dynamic_avoidance_condition =
node->declare_parameter<int>(ns + "successive_num_to_entry_dynamic_avoidance_condition");
Expand Down Expand Up @@ -136,6 +137,7 @@ void DynamicAvoidanceModuleManager::updateModuleParams(
updateParam<bool>(parameters, ns + "motorcycle", p->avoid_motorcycle);
updateParam<bool>(parameters, ns + "pedestrian", p->avoid_pedestrian);

updateParam<double>(parameters, ns + "max_obstacle_vel", p->max_obstacle_vel);
updateParam<double>(parameters, ns + "min_obstacle_vel", p->min_obstacle_vel);

updateParam<int>(
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