From 3dfcc0eeadd23f8b4bb4259ab45ba967b293ff3f Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Fri, 2 Aug 2024 16:41:59 +0900 Subject: [PATCH] Documentation and config file update Signed-off-by: Zulfaqar Azmi --- .../README.md | 12 ++++++++++++ .../config/lane_change.param.yaml | 8 ++++++++ 2 files changed, 20 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 63f5a2ec05bf1..83d80a58fa7a1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -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 | diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index d2f695071649a..6bcd12f349b25 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -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