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feat(behavior_path_planner): add new lateral acc condition #3304

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merged 4 commits into from
Apr 10, 2023
Merged

feat(behavior_path_planner): add new lateral acc condition #3304

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bf43e91
feat(behavior_path_planner): add new lateral acc condition
purewater0901 Apr 6, 2023
14b796e
Merge branch 'main' into feat/enable-variable-acc
purewater0901 Apr 8, 2023
5f0acd6
Merge branch 'main' into feat/enable-variable-acc
purewater0901 Apr 9, 2023
6d1ac51
update
purewater0901 Apr 9, 2023
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6 changes: 4 additions & 2 deletions planning/behavior_path_planner/config/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,10 @@
backward_length_buffer_for_end_of_lane: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]

lane_changing_lateral_jerk: 0.5 # [m/s3]
lane_changing_lateral_acc: 0.5 # [m/s2]
lane_changing_lateral_jerk: 0.5 # [m/s3]
lane_changing_lateral_acc: 0.315 # [m/s2]
lane_changing_lateral_acc_at_low_velocity: 0.15 # [m/s2]
lateral_acc_switching_velocity: 4.0 #[m/s]

minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
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4 changes: 3 additions & 1 deletion ...r_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp
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Expand Up @@ -28,7 +28,9 @@ struct LaneChangeParameters
// trajectory generation
double prepare_duration{2.0};
double lane_changing_lateral_jerk{0.5};
double lane_changing_lateral_acc{0.5};
double lane_changing_lateral_acc{0.315};
double lane_changing_lateral_acc_at_low_velocity{0.15};
double lateral_acc_switching_velocity{0.4};
double lane_change_finish_judge_buffer{3.0};
double minimum_lane_changing_velocity{5.6};
double prediction_time_resolution{0.5};
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4 changes: 4 additions & 0 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -737,6 +737,10 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam()
p.prepare_duration = declare_parameter<double>(parameter("prepare_duration"));
p.lane_changing_lateral_jerk = declare_parameter<double>(parameter("lane_changing_lateral_jerk"));
p.lane_changing_lateral_acc = declare_parameter<double>(parameter("lane_changing_lateral_acc"));
p.lane_changing_lateral_acc_at_low_velocity =
declare_parameter<double>(parameter("lane_changing_lateral_acc_at_low_velocity"));
p.lateral_acc_switching_velocity =
declare_parameter<double>(parameter("lateral_acc_switching_velocity"));
p.lane_change_finish_judge_buffer =
declare_parameter<double>(parameter("lane_change_finish_judge_buffer"));
p.minimum_lane_changing_velocity =
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5 changes: 4 additions & 1 deletion planning/behavior_path_planner/src/util/lane_change/util.cpp
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Expand Up @@ -710,8 +710,11 @@ double calcLaneChangingLength(
const double lane_changing_velocity, const double shift_length,
const BehaviorPathPlannerParameters & com_param, const LaneChangeParameters & lc_param)
{
const double lateral_acc = lane_changing_velocity < lc_param.lateral_acc_switching_velocity
? lc_param.lane_changing_lateral_acc_at_low_velocity
: lc_param.lane_changing_lateral_acc;
const auto required_time = PathShifter::calcShiftTimeFromJerk(
shift_length, lc_param.lane_changing_lateral_jerk, lc_param.lane_changing_lateral_acc);
shift_length, lc_param.lane_changing_lateral_jerk, lateral_acc);

const double & min_lane_change_length = com_param.minimum_lane_changing_length;
const double lane_changing_length =
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