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fix(static_obstacle_avoidance): lower hard margin for parked car to h…
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…andle dense urban scenarios

#1129
Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
Signed-off-by: beyza <bnk@leodrive.ai>
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Berkay Karaman committed Sep 18, 2024
1 parent af49e5c commit 32f1a4f
Showing 1 changed file with 15 additions and 15 deletions.
30 changes: 15 additions & 15 deletions ...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
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Original file line number Diff line number Diff line change
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th_moving_time: 2.0 # [s]
longitudinal_margin: 0.0 # [m]
lateral_margin:
soft_margin: 0.7 # [m]
soft_margin: 0.5 # [m]
hard_margin: 0.2 # [m]
hard_margin_for_parked_vehicle: 0.7 # [m]
hard_margin_for_parked_vehicle: 0.2 # [m]
max_expand_ratio: 0.0 # [-] FOR DEVELOPER
envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER
th_error_eclipse_long_radius : 0.6 # [m]
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th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
Expand All @@ -45,9 +45,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
Expand All @@ -56,9 +56,9 @@
th_moving_time: 2.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.2
hard_margin_for_parked_vehicle: 0.7
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.1
th_error_eclipse_long_radius : 0.6
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th_moving_time: 1.0
longitudinal_margin: 0.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: -0.2
hard_margin_for_parked_vehicle: -0.2
max_expand_ratio: 0.0
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lateral_margin:
soft_margin: 0.7
hard_margin: 0.5
hard_margin_for_parked_vehicle: 0.5
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
Expand All @@ -89,9 +89,9 @@
th_moving_time: 1.0
longitudinal_margin: 1.0
lateral_margin:
soft_margin: 0.7
soft_margin: 0.5
hard_margin: 0.3
hard_margin_for_parked_vehicle: 0.3
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
Expand All @@ -102,7 +102,7 @@
lateral_margin:
soft_margin: 0.7
hard_margin: 0.5
hard_margin_for_parked_vehicle: 0.5
hard_margin_for_parked_vehicle: 0.2
max_expand_ratio: 0.0
envelope_buffer_margin: 0.5
th_error_eclipse_long_radius : 0.6
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# avoidance distance parameters
longitudinal:
min_prepare_time: 1.0 # [s]
max_prepare_time: 3.0 # [s]
max_prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER
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velocity: [1.39, 4.17, 11.1] # [m/s]
max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
max_jerk_values: [1.0, 1.0, 1.0] # [m/sss]
max_jerk_values: [3.0, 3.0, 3.0] # [m/sss]

# longitudinal constraints
longitudinal:
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