From 5f0dc8ed44c96070d09710c30a4a82e1b9e3de68 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 12 Sep 2024 09:33:32 +0900 Subject: [PATCH] feat/tune run out for beta/v0.29.0 (#593) update run out params to be less conservative Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index c8905f66da..d5d353742c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -17,7 +17,7 @@ ego_cut_line_length: 3.0 # The width of the ego's cut line ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. - keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled + keep_stop_point_time: 2.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled # Parameter to create abstracted dynamic obstacles dynamic_obstacle: @@ -29,7 +29,7 @@ std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 3.0 # [sec] create predicted path until this time + max_prediction_time: 7.0 # [sec] create predicted path until this time time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method @@ -44,7 +44,7 @@ # Parameter to prevent abrupt stops caused by false positives in perception ignore_momentary_detection: enable: true - time_threshold: 0.5 # [sec] ignores detections that persist for less than this duration + time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration # Typically used when the "detection_method" is set to ObjectWithoutPath or Points # Approach if the ego has stopped in front of the obstacle for a certain period