diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index cd2bc6168d..1bfe689c55 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -2,7 +2,6 @@ ros__parameters: goal_planner: # general params - minimum_request_length: 100.0 th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. @@ -17,7 +16,7 @@ longitudinal_margin: 3.0 max_lateral_offset: 0.5 lateral_offset_interval: 0.25 - ignore_distance_from_lane_start: 15.0 + ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 # occupancy grid map @@ -36,6 +35,7 @@ # pull over pull_over: + minimum_request_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 @@ -104,6 +104,66 @@ neighbor_radius: 8.0 margin: 1.0 + stop_condition: + maximum_deceleration_for_stop: 1.0 + maximum_jerk_for_stop: 1.0 + path_safety_check: + # EgoPredictedPath + ego_predicted_path: + acceleration: 1.0 + time_horizon: 10.0 + time_resolution: 0.5 + min_slow_speed: 0.0 + delay_until_departure: 1.0 + target_velocity: 1.0 + # For target object filtering + target_filtering: + safety_check_time_horizon: 5.0 + safety_check_time_resolution: 1.0 + # detection range + object_check_forward_distance: 10.0 + object_check_backward_distance: 100.0 + ignore_object_velocity_threshold: 0.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + # ObjectLaneConfiguration + object_lane_configuration: + check_current_lane: true + check_right_side_lane: true + check_left_side_lane: true + check_shoulder_lane: true + check_other_lane: false + include_opposite_lane: false + invert_opposite_lane: false + check_all_predicted_path: true + use_all_predicted_path: true + use_predicted_path_outside_lanelet: false + + # For safety check + safety_check_params: + # 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: 1.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 1.0 + longitudinal_velocity_delta_time: 1.0 + # temporary + backward_path_length: 30.0 + forward_path_length: 100.0 + # debug debug: print_debug_info: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index bea78664c6..b62262423f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -72,3 +72,63 @@ max_planning_time: 150.0 neighbor_radius: 8.0 margin: 1.0 + + stop_condition: + maximum_deceleration_for_stop: 1.0 + maximum_jerk_for_stop: 1.0 + path_safety_check: + # EgoPredictedPath + ego_predicted_path: + acceleration: 1.0 + time_horizon: 10.0 + time_resolution: 0.5 + min_slow_speed: 0.0 + delay_until_departure: 1.0 + target_velocity: 1.0 + # For target object filtering + target_filtering: + safety_check_time_horizon: 5.0 + safety_check_time_resolution: 1.0 + # detection range + object_check_forward_distance: 10.0 + object_check_backward_distance: 100.0 + ignore_object_velocity_threshold: 0.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + # ObjectLaneConfiguration + object_lane_configuration: + check_current_lane: true + check_right_side_lane: true + check_left_side_lane: true + check_shoulder_lane: true + check_other_lane: false + include_opposite_lane: false + invert_opposite_lane: false + check_all_predicted_path: true + use_all_predicted_path: true + use_predicted_path_outside_lanelet: false + + # For safety check + safety_check_params: + # 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: 1.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 1.0 + longitudinal_velocity_delta_time: 1.0 + # temporary + backward_path_length: 30.0 + forward_path_length: 100.0