Include abort parameters and reorganize parameters declaration

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Aug 29, 2022 · 7752025 · 7752025
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commit 7752025
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Showing 3 changed files with 19 additions and 17 deletions.
diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml
@@ -1,15 +1,19 @@
 /**:
   ros__parameters:
     lane_change:
-      lane_change_prepare_duration: 4.0
-      lane_changing_duration: 8.0
-      lane_change_finish_judge_buffer: 3.0
-      minimum_lane_change_velocity: 5.6
-      prediction_time_resolution: 0.5
-      maximum_deceleration: 1.0
+      lane_change_prepare_duration: 4.0         # [s]
+      lane_changing_duration: 8.0               # [s]
+      minimum_lane_change_prepare_distance: 4.0 # [m]
+      lane_change_finish_judge_buffer: 3.0      # [m]
+      minimum_lane_change_velocity: 5.6         # [m/s]
+      prediction_time_resolution: 0.5           # [s]
+      maximum_deceleration: 1.0                 # [m/s2]
       lane_change_sampling_num: 10
-      enable_abort_lane_change: false
-      enable_collision_check_at_prepare_phase: false
-      use_predicted_path_outside_lanelet: false
-      use_all_predicted_path: false
-      lane_change_search_distance: 30.0
+      abort_lane_change_velocity_thresh: 0.5
+      abort_lane_change_angle_thresh: 10.0      # [deg]
+      abort_lane_change_distance_thresh: 0.3    # [m]
+      enable_abort_lane_change: true
+      enable_collision_check_at_prepare_phase: true
+      use_predicted_path_outside_lanelet: true
+      use_all_predicted_path: true
+      publish_debug_marker: true
diff --git a/...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
@@ -49,7 +49,6 @@ struct LaneChangeParameters
   bool enable_collision_check_at_prepare_phase;
   bool use_predicted_path_outside_lanelet;
   bool use_all_predicted_path;
-  double lane_change_search_distance;
 };
 
 struct LaneChangeStatus

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -325,15 +325,14 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam()
   p.prediction_time_resolution = dp("prediction_time_resolution", 0.5);
   p.maximum_deceleration = dp("maximum_deceleration", 1.0);
   p.lane_change_sampling_num = dp("lane_change_sampling_num", 10);
-  p.enable_abort_lane_change = dp("enable_abort_lane_change", true);
-  p.enable_collision_check_at_prepare_phase = dp("enable_collision_check_at_prepare_phase", true);
-  p.use_predicted_path_outside_lanelet = dp("use_predicted_path_outside_lanelet", true);
-  p.use_all_predicted_path = dp("use_all_predicted_path", false);
   p.abort_lane_change_velocity_thresh = dp("abort_lane_change_velocity_thresh", 0.5);
   p.abort_lane_change_angle_thresh =
     dp("abort_lane_change_angle_thresh", tier4_autoware_utils::deg2rad(10.0));
   p.abort_lane_change_distance_thresh = dp("abort_lane_change_distance_thresh", 0.3);
-  p.lane_change_search_distance = dp("lane_change_search_distance", 30.0);
+  p.enable_abort_lane_change = dp("enable_abort_lane_change", true);
+  p.enable_collision_check_at_prepare_phase = dp("enable_collision_check_at_prepare_phase", true);
+  p.use_predicted_path_outside_lanelet = dp("use_predicted_path_outside_lanelet", true);
+  p.use_all_predicted_path = dp("use_all_predicted_path", false);
 
   // validation of parameters
   if (p.lane_change_sampling_num < 1) {