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| 1 | +/**: |
| 2 | + ros__parameters: |
| 3 | + # motion state constraints |
| 4 | + max_velocity: 20.0 # max velocity limit [m/s] |
| 5 | + stop_decel: 0.0 # deceleration at a stop point[m/ss] |
| 6 | + |
| 7 | + # external velocity limit parameter |
| 8 | + margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] |
| 9 | + |
| 10 | + # curve parameters |
| 11 | + max_lateral_accel: 0.8 # max lateral acceleration limit [m/ss] |
| 12 | + min_curve_velocity: 2.74 # min velocity at lateral acceleration limit [m/ss] |
| 13 | + decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit |
| 14 | + decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit |
| 15 | + |
| 16 | + # engage & replan parameters |
| 17 | + replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] |
| 18 | + 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) |
| 19 | + engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) |
| 20 | + engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. |
| 21 | + 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] |
| 22 | + |
| 23 | + # stop velocity |
| 24 | + stopping_velocity: 2.778 # change target velocity to this value before v=0 point [m/s] |
| 25 | + stopping_distance: 0.0 # distance for the stopping_velocity [m]. 0 means the stopping velocity is not applied. |
| 26 | + |
| 27 | + # path extraction parameters |
| 28 | + extract_ahead_dist: 200.0 # forward trajectory distance used for planning [m] |
| 29 | + extract_behind_dist: 5.0 # backward trajectory distance used for planning [m] |
| 30 | + delta_yaw_threshold: 1.0472 # Allowed delta yaw between ego pose and trajectory pose [radian] |
| 31 | + |
| 32 | + # resampling parameters for optimization |
| 33 | + max_trajectory_length: 200.0 # max trajectory length for resampling [m] |
| 34 | + min_trajectory_length: 150.0 # min trajectory length for resampling [m] |
| 35 | + resample_time: 5.0 # resample total time for dense sampling [s] |
| 36 | + dense_dt: 0.1 # resample time interval for dense sampling [s] |
| 37 | + dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] |
| 38 | + sparse_dt: 0.5 # resample time interval for sparse sampling [s] |
| 39 | + sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m] |
| 40 | + |
| 41 | + # resampling parameters for post process |
| 42 | + post_max_trajectory_length: 300.0 # max trajectory length for resampling [m] |
| 43 | + post_min_trajectory_length: 30.0 # min trajectory length for resampling [m] |
| 44 | + post_resample_time: 10.0 # resample total time for dense sampling [s] |
| 45 | + post_dense_dt: 0.1 # resample time interval for dense sampling [s] |
| 46 | + post_dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m] |
| 47 | + post_sparse_dt: 0.1 # resample time interval for sparse sampling [s] |
| 48 | + post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] |
| 49 | + |
| 50 | + # system |
| 51 | + over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point |
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