fix(behavior_path_planner): fix pull_over request_length and maximum_…

…deceleration (#1789) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Sep 6, 2022 · 165f29e · 165f29e
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diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -1,15 +1,15 @@
 /**:
   ros__parameters:
     pull_over:
-      request_length: 100.0
+      request_length: 200.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
       pull_over_velocity: 3.0
       pull_over_minimum_velocity: 0.3
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      maximum_deceleration: 0.5
+      maximum_deceleration: 1.0
       # goal research
       enable_goal_research: true
       search_priority: "efficient_path" # "efficient_path" or "close_goal"

diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md
@@ -198,7 +198,7 @@ The Pull Over module is activated when goal is in the shoulder lane. Ego-vehicle
 
   - The goal is in shoulder lane and the ego-vehicle is in road lane.
   - The distance between the goal and ego-vehicle is somewhat close.
-    - It is shorter than `request_length`(default: < `100m`).
+    - It is shorter than `request_length`(default: < `200m`).
 
 - Pull over ready condition
 
@@ -220,15 +220,15 @@ The Pull Over module is activated when goal is in the shoulder lane. Ego-vehicle
 
 | Name                       | Unit   | Type   | Description                                                                                                                             | Default value |
 | :------------------------- | :----- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
-| request_length             | [m]    | double | when the ego-vehicle approaches the goal by this distance, the module is activated.                                                     | 100.0         |
+| request_length             | [m]    | double | when the ego-vehicle approaches the goal by this distance, the module is activated.                                                     | 200.0         |
 | th_arrived_distance        | [m]    | double | distance threshold for arrival of path termination                                                                                      | 1.0           |
 | th_stopped_velocity        | [m/s]  | double | velocity threshold for arrival of path termination                                                                                      | 0.01          |
 | th_stopped_time            | [s]    | double | time threshold for arrival of path termination                                                                                          | 2.0           |
 | pull_over_velocity         | [m/s]  | double | decelerate to this speed by the goal search area                                                                                        | 2.0           |
 | pull_over_minimum_velocity | [m/s]  | double | speed of pull_over after stopping once. this prevents excessive acceleration.                                                           | 0.3           |
 | margin_from_boundary       | [m]    | double | distance margin from edge of the shoulder lane                                                                                          | 0.5           |
 | decide_path_distance       | [m]    | double | decide path if it approaches this distance relative to the parking position. after that, no path planning and goal search are performed | 10.0          |
-| maximum_deceleration       | [m/s2] | double | maximum deceleration. it prevents sudden deceleration when a parking path cannot be found suddenly                                      | 0.5           |
+| maximum_deceleration       | [m/s2] | double | maximum deceleration. it prevents sudden deceleration when a parking path cannot be found suddenly                                      | 1.0           |
 
 #### **collision check**
 
@@ -322,12 +322,12 @@ Generate two forward arc paths.
 
 ###### Parameters arc forward parking
 
-| Name                                    | Unit  | Type   | Description                                                                      | Default value |
-| :-------------------------------------- | :---- | :----- | :------------------------------------------------------------------------------- | :------------ |
-| enable_arc_forward_parking              | [-]   | bool   | flag whether to enable arc forward parking                                       | true          |
-| after_forward_parking_straight_distance | [m]   | double | straight line distance after pull over end point                                 | 2.0           |
-| forward_parking_velocity                | [m/s] | double | velocity when forward parking                                                    | 0.3           |
-| forward_parking_lane_departure_margin   | [m/s] | double | lane departure margin for front left corner of ego-vehicle when forkward parking | 0.0           |
+| Name                                    | Unit  | Type   | Description                                                                     | Default value |
+| :-------------------------------------- | :---- | :----- | :------------------------------------------------------------------------------ | :------------ |
+| enable_arc_forward_parking              | [-]   | bool   | flag whether to enable arc forward parking                                      | true          |
+| after_forward_parking_straight_distance | [m]   | double | straight line distance after pull over end point                                | 2.0           |
+| forward_parking_velocity                | [m/s] | double | velocity when forward parking                                                   | 0.3           |
+| forward_parking_lane_departure_margin   | [m/s] | double | lane departure margin for front left corner of ego-vehicle when forward parking | 0.0           |
 
 ###### arc backward parking
 

diff --git a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
@@ -9,7 +9,7 @@
       pull_over_minimum_velocity: 0.3
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      maximum_deceleration: 0.5
+      maximum_deceleration: 1.0
       # goal research
       enable_goal_research: true
       search_priority: "efficient_path" # "efficient_path" or "close_goal"

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -364,13 +364,13 @@ PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
   };
 
   PullOverParameters p;
-  p.request_length = dp("request_length", 100.0);
+  p.request_length = dp("request_length", 200.0);
   p.th_stopped_velocity = dp("th_stopped_velocity", 0.01);
   p.th_arrived_distance = dp("th_arrived_distance", 0.3);
   p.th_stopped_time = dp("th_stopped_time", 2.0);
   p.margin_from_boundary = dp("margin_from_boundary", 0.3);
   p.decide_path_distance = dp("decide_path_distance", 10.0);
-  p.maximum_deceleration = dp("maximum_deceleration", 0.5);
+  p.maximum_deceleration = dp("maximum_deceleration", 1.0);
   // goal research
   p.enable_goal_research = dp("enable_goal_research", true);
   p.search_priority = dp("search_priority", "efficient_path");