update params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp

@@ -41,7 +41,7 @@ struct Param
 {
   double delay_time;
   double footprint_margin;
-  double max_deceleration;
+  double maximum_deceleration;
   double resample_interval;
   double search_radius;
 };

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml

@@ -9,10 +9,7 @@
       pull_over_minimum_velocity: 0.3
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      max_deceleration: 0.5
-      enable_shift_parking: true
-      enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      maximum_deceleration: 0.5
       # goal research
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true
@@ -25,14 +22,16 @@
       theta_size: 360
       obstacle_threshold: 60
       # shift path
+      enable_shift_parking: true
       pull_over_sampling_num: 4
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      maximum_deceleration: 1.0
       after_pull_over_straight_distance: 5.0
       before_pull_over_straight_distance: 5.0
       # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: false
       after_forward_parking_straight_distance: 2.0
       after_backward_parking_straight_distance: 2.0
       forward_parking_velocity: 0.3

planning/behavior_path_planner/config/pull_over/pull_over.param.yaml

@@ -9,10 +9,7 @@
       pull_over_minimum_velocity: 0.3
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      max_deceleration: 0.5
-      enable_shift_parking: true
-      enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      maximum_deceleration: 0.5
       # goal research
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true
@@ -25,14 +22,16 @@
       theta_size: 360
       obstacle_threshold: 60
       # shift path
+      enable_shift_parking: true
       pull_over_sampling_num: 4
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      maximum_deceleration: 1.0
       after_pull_over_straight_distance: 5.0
       before_pull_over_straight_distance: 5.0
       # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: false
       after_forward_parking_straight_distance: 2.0
       after_backward_parking_straight_distance: 2.0
       forward_parking_velocity: 0.3

planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp

@@ -56,10 +56,7 @@ struct PullOverParameters
   double th_stopped_time_sec;
   double margin_from_boundary;
   double decide_path_distance;
-  double max_deceleration;
-  bool enable_shift_parking;
-  bool enable_arc_forward_parking;
-  bool enable_arc_backward_parking;
+  double maximum_deceleration;
   // goal research
   std::string search_priority;  // "efficient_path" or "close_goal"
   bool enable_goal_research;
@@ -72,16 +69,18 @@ struct PullOverParameters
   double theta_size;
   double obstacle_threshold;
   // shift path
+  bool enable_shift_parking;
   int pull_over_sampling_num;
   double maximum_lateral_jerk;
   double minimum_lateral_jerk;
   double deceleration_interval;
   double pull_over_velocity;
   double pull_over_minimum_velocity;
-  double maximum_deceleration;
   double after_pull_over_straight_distance;
   double before_pull_over_straight_distance;
   // parallel parking
+  bool enable_arc_forward_parking;
+  bool enable_arc_backward_parking;
   double after_forward_parking_straight_distance;
   double after_backward_parking_straight_distance;
   double forward_parking_velocity;
@@ -90,7 +89,7 @@ struct PullOverParameters
   double backward_parking_lane_departure_margin;
   double arc_path_interval;
   double max_steer_rad;
-  // hazard. Not used now.
+  // hazard
   double hazard_on_threshold_dis;
   double hazard_on_threshold_vel;
   // check safety with dynamic objects. Not used now.

planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp

@@ -59,7 +59,7 @@ struct ParallelParkingParameters
   double forward_parking_lane_departure_margin;
   double departing_lane_departure_margin;
   double arc_path_interval;
-  double max_deceleration;
+  double maximum_deceleration;
   double max_steer_rad;
 };
 

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -371,10 +371,7 @@ PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
   p.th_stopped_time_sec = dp("th_stopped_time_sec", 2.0);
   p.margin_from_boundary = dp("margin_from_boundary", 0.3);
   p.decide_path_distance = dp("decide_path_distance", 10.0);
-  p.max_deceleration = dp("max_deceleration", 0.5);
-  p.enable_shift_parking = dp("enable_shift_parking", true);
-  p.enable_arc_forward_parking = dp("enable_arc_forward_parking", true);
-  p.enable_arc_backward_parking = dp("enable_arc_backward_parking", false);
+  p.maximum_deceleration = dp("maximum_deceleration", 0.5);
   // goal research
   p.search_priority = dp("search_priority", "efficient_path");
   p.enable_goal_research = dp("enable_goal_research", true);
@@ -387,16 +384,18 @@ PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
   p.theta_size = dp("theta_size", 360);
   p.obstacle_threshold = dp("obstacle_threshold", 90);
   // shift path
+  p.enable_shift_parking = dp("enable_shift_parking", true);
   p.pull_over_sampling_num = dp("pull_over_sampling_num", 4);
   p.maximum_lateral_jerk = dp("maximum_lateral_jerk", 3.0);
   p.minimum_lateral_jerk = dp("minimum_lateral_jerk", 1.0);
   p.deceleration_interval = dp("deceleration_interval", 10.0);
   p.pull_over_velocity = dp("pull_over_velocity", 8.3);
   p.pull_over_minimum_velocity = dp("pull_over_minimum_velocity", 0.3);
-  p.maximum_deceleration = dp("maximum_deceleration", 1.0);
   p.after_pull_over_straight_distance = dp("after_pull_over_straight_distance", 3.0);
   p.before_pull_over_straight_distance = dp("before_pull_over_straight_distance", 3.0);
   // parallel parking
+  p.enable_arc_forward_parking = dp("enable_arc_forward_parking", true);
+  p.enable_arc_backward_parking = dp("enable_arc_backward_parking", false);
   p.after_forward_parking_straight_distance = dp("after_forward_parking_straight_distance", 0.5);
   p.after_backward_parking_straight_distance = dp("after_backward_parking_straight_distance", 0.5);
   p.forward_parking_velocity = dp("forward_parking_velocity", 1.0);

planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp

@@ -108,7 +108,7 @@ ParallelParkingParameters PullOverModule::getGeometricPullOutParameters() const
   params.backward_parking_lane_departure_margin =
     parameters_.backward_parking_lane_departure_margin;
   params.arc_path_interval = parameters_.arc_path_interval;
-  params.max_deceleration = parameters_.max_deceleration;
+  params.maximum_deceleration = parameters_.maximum_deceleration;
   params.max_steer_rad = parameters_.max_steer_rad;
 
   return params;
@@ -334,7 +334,7 @@ bool PullOverModule::isLongEnoughToParkingStart(
 
   const double current_vel = planner_data_->self_odometry->twist.twist.linear.x;
   const double current_to_stop_distance =
-    std::pow(current_vel, 2) / parameters_.max_deceleration / 2;
+    std::pow(current_vel, 2) / parameters_.maximum_deceleration / 2;
 
   // once stopped, it cannot start again if start_pose is close.
   // so need enough distance to restart
@@ -730,7 +730,7 @@ PathWithLaneId PullOverModule::getStopPath()
 
   const double current_vel = planner_data_->self_odometry->twist.twist.linear.x;
   const double current_to_stop_distance =
-    std::pow(current_vel, 2) / parameters_.max_deceleration / 2;
+    std::pow(current_vel, 2) / parameters_.maximum_deceleration / 2;
   const auto arclength_current_pose =
     lanelet::utils::getArcCoordinates(status_.current_lanes, current_pose).length;
 

planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp

@@ -106,7 +106,7 @@ bool GeometricParallelParking::isEnoughDistanceToStart(const Pose & start_pose)
 
   // not enoght to stop with max deceleration
   const double current_vel = util::l2Norm(planner_data_->self_odometry->twist.twist.linear);
-  const double stop_distance = std::pow(current_vel, 2) / parameters_.max_deceleration / 2;
+  const double stop_distance = std::pow(current_vel, 2) / parameters_.maximum_deceleration / 2;
   if (current_to_start.position.x < stop_distance) {
     return false;
   }