wip params for velocity-based obscruise planner

Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Nov 6, 2023 · b2236ff · b2236ff
1 parent 39d5362
commit b2236ff
Showing 1 changed file with 21 additions and 14 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -182,22 +182,29 @@
       labels:
         - "default"
         - "pedestrian"
-        - "moving_pedestrian"
       default:
-        min_lat_margin: 0.2
-        max_lat_margin: 1.0
-        min_ego_velocity: 2.0
-        max_ego_velocity: 8.0
+        moving:
+           min_lat_margin: 0.8
+          max_lat_margin: 1.3
+          min_ego_velocity: 0.5
+          max_ego_velocity: 1.5
+        static:
+          min_lat_margin: 0.2
+          max_lat_margin: 1.0
+          min_ego_velocity: 2.0
+          max_ego_velocity: 8.0
       pedestrian:
-        min_lat_margin: 0.8
-        max_lat_margin: 1.3
-        min_ego_velocity: 1.0
-        max_ego_velocity: 2.0
-      moving_pedestrian:
-        min_lat_margin: 0.8
-        max_lat_margin: 1.3
-        min_ego_velocity: 0.5
-        max_ego_velocity: 1.5
+        moving:
+          min_lat_margin: 0.8
+          max_lat_margin: 1.3
+          min_ego_velocity: 1.0
+          max_ego_velocity: 2.0
+        static:
+          min_lat_margin: 0.8
+          max_lat_margin: 1.3
+          min_ego_velocity: 1.0
+          max_ego_velocity: 2.0
+
 
       time_margin_on_target_velocity: 1.5 # [s]