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Copy file name to clipboardexpand all lines: planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
Copy file name to clipboardexpand all lines: planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
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occlusion_spot:
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detection_method: "occupancy_grid"# [-] candidate is "occupancy_grid" or "predicted_object"
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pass_judge: "smooth_velocity"# [-] candidate is "smooth_velocity" or "current_velocity"
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filter_occupancy_grid: true # [-] whether to filter occupancy grid by morphologyEx or not
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use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map
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use_object_info: true # [-] whether to reflect object info to occupancy grid map or not
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use_moving_object_ray_cast: true # [-] whether to reflect moving object ray shadow grid map
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use_partition_lanelet: true # [-] whether to use partition lanelet map data
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pedestrian_vel: 1.5# [m/s] assume pedestrian is dashing from occlusion at this velocity
Copy file name to clipboardexpand all lines: planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
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stop_margin: 0.0
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stop_check_dist: 2.0
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stop_duration_sec: 1.0
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use_initialization_stop_line_state: true
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debug:
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show_stopline_collision_check: false # [-] whether to show stopline collision
planning_algorithm: "pid_base"# currently supported algorithm is "pid_base"
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is_showing_debug_info: true
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# longitudinal info
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idling_time: 4.0# idling time to detect front vehicle starting deceleration [s]
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min_ego_accel_for_rss: -1.0# ego's acceleration to calculate RSS distance [m/ss]
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min_object_accel_for_rss: -1.0# front obstacle's acceleration to calculate RSS distance [m/ss]
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safe_distance_margin : 6.0# This is also used as a stop margin [m]
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lpf_gain_for_accel: 0.2# gain of low pass filter for ego acceleration [-]
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nearest_dist_deviation_threshold: 3.0# [m] for finding nearest index
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nearest_yaw_deviation_threshold: 1.57# [rad] for finding nearest index
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min_behavior_stop_margin: 3.0# [m]
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obstacle_velocity_threshold_from_cruise_to_stop : 3.0# stop planning is executed to the obstacle whose velocity is less than this value [m/s]
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cruise_obstacle_type:
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unknown: true
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car: true
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truck: true
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bus: true
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trailer: true
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motorcycle: true
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bicycle: false
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pedestrian: false
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stop_obstacle_type:
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unknown: true
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car: true
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truck: true
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bus: true
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trailer: true
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motorcycle: true
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bicycle: true
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pedestrian: true
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obstacle_filtering:
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rough_detection_area_expand_width : 5.0# rough lateral margin for rough detection area expansion [m]
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detection_area_expand_width : 0.0# lateral margin for precise detection area expansion
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decimate_trajectory_step_length : 2.0# longitudinal step length to calculate trajectory polygon for collision checking
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# if crossing vehicle is decided as target obstacles or not
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crossing_obstacle_velocity_threshold : 3.0# velocity threshold for crossing obstacle for cruise or stop [m/s]
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crossing_obstacle_traj_angle_threshold : 1.22# [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
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collision_time_margin : 8.0# time threshold of collision between obstacle adn ego for cruise or stop [s]
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ego_obstacle_overlap_time_threshold : 1.0# time threshold to decide cut-in obstacle for cruise or stop [s]
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max_prediction_time_for_collision_check : 20.0# prediction time to check collision between obstacle and ego
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ignored_outside_obstacle_type:
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unknown: false
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car: false
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truck: false
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bus: false
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trailer: false
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motorcycle: false
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bicycle: true
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pedestrian: true
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pid_based_planner:
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# use_predicted_obstacle_pose: false
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# PID gains to keep safe distance with the front vehicle
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kp: 0.6
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ki: 0.0
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kd: 0.5
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min_accel_during_cruise: -2.0# minimum acceleration during cruise to slow down [m/ss]
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output_ratio_during_accel: 2.5# target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
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vel_to_acc_weight: 8.0# target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]
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min_cruise_target_vel: 0.0# minimum target velocity during slow down [m/s]
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optimization_based_planner:
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resampling_s_interval: 2.0
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dense_resampling_time_interval: 0.1
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sparse_resampling_time_interval: 1.0
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dense_time_horizon: 5.0
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max_time_horizon: 25.0
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max_trajectory_length: 200.0
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velocity_margin: 0.1#[m/s]
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# Parameters for safe distance
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t_dangerous: 0.5
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# For initial Motion
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replan_vel_deviation: 5.0# velocity deviation to replan initial velocity [m/s]
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engage_velocity: 0.25# engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
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engage_acceleration: 0.1# engage acceleration [m/ss] (use this acceleration when engagement)
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engage_exit_ratio: 0.5# exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
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stop_dist_to_prohibit_engage: 0.5# if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]
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