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feat(behavior_path_planner): update pull out (tier4#1438)
* feat(behavior_path_planner): update pull out Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * refactor(behavior_path_planner): rename pull_out params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update from review Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use debug_data Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * enable back Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move PlannerType Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix debug marker Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add seach priority Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * change before_pull_out_straight_distance to 0.0 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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41 changes: 23 additions & 18 deletions
41
...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
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|---|---|---|
| @@ -1,25 +1,30 @@ | ||
| /**: | ||
| ros__parameters: | ||
| pull_out: | ||
| min_stop_distance: 2.0 | ||
| stop_time: 0.0 | ||
| hysteresis_buffer_distance: 1.0 | ||
| pull_out_prepare_duration: 4.0 | ||
| pull_out_duration: 2.0 | ||
| th_arrived_distance: 1.0 | ||
| th_stopped_velocity: 0.01 | ||
| th_stopped_time: 1.0 | ||
| collision_check_margin: 1.0 | ||
| pull_out_finish_judge_buffer: 1.0 | ||
| minimum_pull_out_velocity: 2.0 | ||
| prediction_duration: 30.0 | ||
| prediction_time_resolution: 0.5 | ||
| static_obstacle_velocity_thresh: 1.5 | ||
| maximum_deceleration: 1.0 | ||
| enable_collision_check_at_prepare_phase: false | ||
| use_predicted_path_outside_lanelet: false | ||
| use_all_predicted_path: false | ||
| use_dynamic_object: true | ||
| enable_blocked_by_obstacle: false | ||
| pull_out_search_distance: 30.0 | ||
| before_pull_out_straight_distance: 5.0 | ||
| after_pull_out_straight_distance: 5.0 | ||
| # shift pull out | ||
| enable_shift_pull_out: true | ||
| shift_pull_out_velocity: 2.0 | ||
| pull_out_sampling_num: 4 | ||
| before_pull_out_straight_distance: 0.0 | ||
| minimum_shift_pull_out_distance: 20.0 | ||
| maximum_lateral_jerk: 2.0 | ||
| minimum_lateral_jerk: 0.5 | ||
| deceleration_interval: 15.0 | ||
| # geometric pull out | ||
| enable_geometric_pull_out: true | ||
| geometric_pull_out_velocity: 1.0 | ||
| arc_path_interval: 1.0 | ||
| lane_departure_margin: 0.2 | ||
| backward_velocity: -1.0 | ||
| pull_out_max_steer_angle: 0.26 # 15deg | ||
| # search start pose backward | ||
| enable_back: true | ||
| search_priority: "efficient_path" # "efficient_path" or "short_back_distance" | ||
| max_back_distance: 15.0 | ||
| backward_search_resolution: 2.0 | ||
| backward_path_update_duration: 3.0 |
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42 changes: 23 additions & 19 deletions
42
planning/behavior_path_planner/config/pull_out/pull_out.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,26 +1,30 @@ | ||
| /**: | ||
| ros__parameters: | ||
| pull_out: | ||
| min_stop_distance: 2.0 | ||
| stop_time: 0.0 | ||
| hysteresis_buffer_distance: 1.0 | ||
| pull_out_prepare_duration: 4.0 | ||
| pull_out_duration: 2.0 | ||
| th_arrived_distance: 1.0 | ||
| th_stopped_velocity: 0.01 | ||
| th_stopped_time: 1.0 | ||
| collision_check_margin: 1.0 | ||
| pull_out_finish_judge_buffer: 1.0 | ||
| minimum_pull_out_velocity: 2.0 | ||
| prediction_duration: 30.0 | ||
| prediction_time_resolution: 0.5 | ||
| static_obstacle_velocity_thresh: 1.5 | ||
| maximum_deceleration: 1.0 | ||
| enable_abort_pull_out: false | ||
| enable_collision_check_at_prepare_phase: false | ||
| use_predicted_path_outside_lanelet: false | ||
| use_all_predicted_path: false | ||
| use_dynamic_object: false | ||
| enable_blocked_by_obstacle: false | ||
| pull_out_search_distance: 30.0 | ||
| before_pull_out_straight_distance: 5.0 | ||
| after_pull_out_straight_distance: 5.0 | ||
| # shift pull out | ||
| enable_shift_pull_out: true | ||
| shift_pull_out_velocity: 2.0 | ||
| pull_out_sampling_num: 4 | ||
| before_pull_out_straight_distance: 0.0 | ||
| minimum_shift_pull_out_distance: 20.0 | ||
| maximum_lateral_jerk: 2.0 | ||
| minimum_lateral_jerk: 0.5 | ||
| deceleration_interval: 15.0 | ||
| # geometric pull out | ||
| enable_geometric_pull_out: true | ||
| geometric_pull_out_velocity: 1.0 | ||
| arc_path_interval: 1.0 | ||
| lane_departure_margin: 0.2 | ||
| backward_velocity: -1.0 | ||
| pull_out_max_steer_angle: 0.26 # 15deg | ||
| # search start pose backward | ||
| enable_back: true | ||
| search_priority: "efficient_path" # "efficient_path" or "short_back_distance" | ||
| max_back_distance: 15.0 | ||
| backward_search_resolution: 2.0 | ||
| backward_path_update_duration: 3.0 |
41 changes: 41 additions & 0 deletions
41
...r_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp
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| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_ | ||
| #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_ | ||
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| #include "behavior_path_planner/scene_module/pull_out/pull_out_path.hpp" | ||
| #include "behavior_path_planner/scene_module/pull_out/pull_out_planner_base.hpp" | ||
| #include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp" | ||
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| #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp> | ||
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| namespace behavior_path_planner | ||
| { | ||
| class GeometricPullOut : public PullOutPlannerBase | ||
| { | ||
| public: | ||
| explicit GeometricPullOut( | ||
| rclcpp::Node & node, const PullOutParameters & parameters, | ||
| const ParallelParkingParameters & parallel_parking_parameters); | ||
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| PlannerType getPlannerType() override { return PlannerType::GEOMETRIC; }; | ||
| boost::optional<PullOutPath> plan(Pose start_pose, Pose goal_pose) override; | ||
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| GeometricParallelParking planner_; | ||
| ParallelParkingParameters parallel_parking_parameters_; | ||
| }; | ||
| } // namespace behavior_path_planner | ||
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| #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__GEOMETRIC_PULL_OUT_HPP_ |
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56 changes: 56 additions & 0 deletions
56
..._path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_parameters.hpp
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| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PARAMETERS_HPP_ | ||
| #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PARAMETERS_HPP_ | ||
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| #include <string> | ||
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| namespace behavior_path_planner | ||
| { | ||
| struct PullOutParameters | ||
| { | ||
| double th_arrived_distance; | ||
| double th_stopped_velocity; | ||
| double th_stopped_time; | ||
| double collision_check_margin; | ||
| double pull_out_finish_judge_buffer; | ||
| // shift pull out | ||
| bool enable_shift_pull_out; | ||
| double shift_pull_out_velocity; | ||
| int pull_out_sampling_num; | ||
| double before_pull_out_straight_distance; | ||
| double minimum_shift_pull_out_distance; | ||
| double maximum_lateral_jerk; | ||
| double minimum_lateral_jerk; | ||
| double deceleration_interval; | ||
| // geometric pull out | ||
| bool enable_geometric_pull_out; | ||
| double geometric_pull_out_velocity; | ||
| double arc_path_interval; | ||
| double lane_departure_margin; | ||
| double backward_velocity; | ||
| double pull_out_max_steer_angle; | ||
| // search start pose backward | ||
| std::string search_priority; // "efficient_path" or "short_back_distance" | ||
| bool enable_back; | ||
| double max_back_distance; | ||
| double backward_search_resolution; | ||
| double backward_path_update_duration; | ||
| }; | ||
|
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| } // namespace behavior_path_planner | ||
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| #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PARAMETERS_HPP_ |
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