From 791b90fb3d78160c13d384e7d9eb2e8d00a9c829 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 1 Apr 2024 15:04:37 +0900 Subject: [PATCH] feat(run_out): add params to exclude obstacles already on the ego's path (#939) * add params Signed-off-by: Daniel Sanchez * add extra param Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 898f303a75..26801f21ba 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -3,6 +3,7 @@ run_out: detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module + exclude_obstacles_already_in_path: true # If the obstacle is already on the ego's path footprint, ignore it. use_partition_lanelet: true # [-] whether to use partition lanelet map data suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet use_ego_cut_line: true # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored @@ -14,6 +15,8 @@ detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision ego_cut_line_length: 3.0 # The width of the ego's cut line + ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path + keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. # Parameter to create abstracted dynamic obstacles dynamic_obstacle: