From 80628df719dde026344051c28c382796d20643af Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 14 Jun 2024 16:09:28 +0900 Subject: [PATCH] feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop (#669) * abandon_to_stop Signed-off-by: Yuki Takagi * sync to pseudo_occlusion Signed-off-by: Yuki Takagi * adonban to stop for sudden unknown object --------- Signed-off-by: Yuki Takagi Co-authored-by: Shohei Sakai --- ...stacle_cruise_planner_pseudo_occlusion.param.yaml | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml index 327fb41c11..e01cd3c99d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner_pseudo_occlusion.param.yaml @@ -213,3 +213,15 @@ lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start + stop: + type_specified_params: + labels: # For the listed types, the node try to read the following type specified values + - "default" + - "unknown" + # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined. + # limit_min_acc: common_param.yaml/limit.min_acc + unknown: + limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred. + sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop". + sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop". + abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit.