feat(behavior_path_palnner): update geometric parallel parking (#431)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Aug 30, 2022 · 3d618f9 · 3d618f9
1 parent 9cfb34d
commit 3d618f9
Showing 1 changed file with 9 additions and 7 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -9,13 +9,10 @@
       pull_over_minimum_velocity: 0.3
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      min_acc: -0.5
-      enable_shift_parking: true
-      enable_arc_forward_parking: true
-      enable_arc_backward_parking: true
+      maximum_deceleration: 0.5
       # goal research
-      search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true
+      search_priority: "efficient_path" # "efficient_path" or "close_goal"
       forward_goal_search_length: 20.0
       backward_goal_search_length: 20.0
       goal_search_interval: 1.0
@@ -25,20 +22,25 @@
       theta_size: 360
       obstacle_threshold: 60
       # shift path
+      enable_shift_parking: true
       pull_over_sampling_num: 4
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
-      maximum_deceleration: 1.0
       after_pull_over_straight_distance: 5.0
       before_pull_over_straight_distance: 5.0
       # parallel parking path
+      enable_arc_forward_parking: true
+      enable_arc_backward_parking: true
       after_forward_parking_straight_distance: 2.0
       after_backward_parking_straight_distance: 2.0
       forward_parking_velocity: 0.3
       backward_parking_velocity: -0.3
+      forward_parking_lane_departure_margin: 0.0
+      backward_parking_lane_departure_margin: 0.0
       arc_path_interval: 1.0
-      # hazard. Not used now.
+      max_steer_rad: 0.35  # 20deg
+      # hazard on when parked
       hazard_on_threshold_dis: 1.0
       hazard_on_threshold_vel: 0.5
       # check safety with dynamic objects. Not used now.