From 2116899d668bb192de6eab72627962e80180c6a5 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Sat, 13 Aug 2022 13:51:26 +0900 Subject: [PATCH] update params Signed-off-by: kosuke55 --- .../obstacle_collision_checker.hpp | 2 +- .../pull_over/pull_over.param.yaml | 9 ++++----- .../config/pull_over/pull_over.param.yaml | 9 ++++----- .../scene_module/pull_over/pull_over_module.hpp | 11 +++++------ .../scene_module/utils/geometric_parallel_parking.hpp | 2 +- .../src/behavior_path_planner_node.cpp | 9 ++++----- .../src/scene_module/pull_over/pull_over_module.cpp | 6 +++--- .../scene_module/utils/geometric_parallel_parking.cpp | 2 +- 8 files changed, 23 insertions(+), 27 deletions(-) diff --git a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp index 4ab26c31f9910..4871f7213c1fb 100644 --- a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp +++ b/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; }; diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 7d2927fcc6397..63d782abc4483 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/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 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 index 7d2927fcc6397..63d782abc4483 100644 --- a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml +++ b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml @@ -9,10 +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 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp index c5c5442ed3777..15ec59668cc04 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp +++ b/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. diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp index 1dda5981fa67a..b328b214c5f52 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp +++ b/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; }; diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index db382fa9852a1..6eacfc37c6b55 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/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); diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index 883b94a54d1c3..011a577d085eb 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/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; diff --git a/planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp index 374ed8555a006..93667dfc52273 100644 --- a/planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp +++ b/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; }