obstacle_stop_planner.param.yaml

/**:
  ros__parameters:
    hunting_threshold: 0.5                   # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
    max_velocity: 20.0                       # max velocity [m/s]
    enable_slow_down: False                  # whether to use slow down planner [-]

    stop_planner:
      # params for stop position
      stop_position:
        max_longitudinal_margin: 5.0         # stop margin distance from obstacle on the path [m]
        min_longitudinal_margin: 2.0         # stop margin distance when any other stop point is inserted in stop margin [m]
        hold_stop_margin_distance: 0.0       # the ego keeps stopping if the ego is in this margin [m]

      # params for detection area
      detection_area:
        lateral_margin: 0.0                  # margin of vehicle footprint [m]
        step_length: 1.0                     # step length for pointcloud search range [m]
        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]


    slow_down_planner:
      # params for slow down section
      slow_down_section:
        longitudinal_forward_margin: 5.0     # margin distance from slow down point to vehicle front [m]
        longitudinal_backward_margin: 5.0    # margin distance from slow down point to vehicle rear [m]
        longitudinal_margin_span: -0.1       # fineness param for relaxing slow down margin (use this param if consider_constraints is True) [m/s]
        min_longitudinal_forward_margin: 1.0 # min margin for relaxing slow down margin (use this param if consider_constraints is True) [m/s]

      # params for detection area
      detection_area:
        lateral_margin: 1.0                  # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]

      # params for velocity
      target_velocity:
        max_slow_down_velocity: 1.38         # max slow down velocity (use this param if consider_constraints is False)[m/s]
        min_slow_down_velocity: 0.28         # min slow down velocity (use this param if consider_constraints is False)[m/s]
        slow_down_velocity: 1.38             # target slow down velocity (use this param if consider_constraints is True)[m/s]

      # params for deceleration constraints (use this param if consider_constraints is True)
      constraints:
        jerk_min_slow_down: -0.3             # min slow down jerk constraint [m/sss]
        jerk_span: -0.01                     # fineness param for planning deceleration jerk [m/sss]
        jerk_start: -0.1                     # init jerk used for deceleration planning [m/sss]

      # others
      consider_constraints: False                 # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel [-]
      velocity_threshold_decel_complete: 0.2      # use for judge whether the ego velocity converges the target slow down velocity [m/s]
      acceleration_threshold_decel_complete: 0.1  # use for judge whether the ego velocity converges the target slow down velocity [m/ss]