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Documentation and config file update
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Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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zulfaqar-azmi-t4 committed Aug 2, 2024
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12 changes: 12 additions & 0 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
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Expand Up @@ -709,6 +709,18 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi
| `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 |
| `safety_check.cancel.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 |

#### safety constraints specifically for stopped or parked vehicles

| Name | Unit | Type | Description | Default value |
| :-------------------------------------------------------- | ------- | ------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- |
| `safety_check.parked.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 |
| `safety_check.parked.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -2.0 |
| `safety_check.parked.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 1.0 |
| `safety_check.parked.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 0.8 |
| `safety_check.parked.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 1.0 |
| `safety_check.parked.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 |
| `safety_check.parked.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 |

##### safety constraints to cancel lane change path

| Name | Unit | Type | Description | Default value |
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8 changes: 8 additions & 0 deletions ...vior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml
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Expand Up @@ -39,6 +39,14 @@
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
parked:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
rear_vehicle_reaction_time: 1.0
rear_vehicle_safety_time_margin: 0.8
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.0
cancel:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
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