feat(planning_simulator): new parameters for lane change module (#355)

* feat(planning_simulator): new parameters for lane change module Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * added publish debug marker Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * reorganize collision check Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * increase reaction time Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add longitudinal minimum threshold Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Set constant color of path candidate to false Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Remove parameters from lane_change.param.yaml Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * include abort parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * set debug marker publisher to false Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Aug 29, 2022 · 9cfb34d · 9cfb34d
1 parent d0b004d
commit 9cfb34d
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diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1001,7 +1001,7 @@ Visualization Manager:
                       View Path:
                         Alpha: 0.30000001192092896
                         Color: 115; 210; 22
-                        Constant Color: true
+                        Constant Color: false
                         Value: true
                         Width: 2
                       View Velocity:

diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -20,3 +20,10 @@
     path_interval: 2.0
 
     visualize_drivable_area_for_shared_linestrings_lanelet: true
+
+    lateral_distance_max_threshold: 5.0
+    longitudinal_distance_min_threshold: 3.0
+    expected_front_deceleration: -1.0
+    expected_rear_deceleration: -1.0
+    rear_vehicle_reaction_time: 2.0
+    rear_vehicle_safety_time_margin: 2.0
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -1,19 +1,19 @@
 /**:
   ros__parameters:
     lane_change:
-      min_stop_distance: 5.0
-      stop_time: 2.0
-      hysteresis_buffer_distance: 2.0
-      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_duration: 8.0
-      prediction_time_resolution: 0.5
-      static_obstacle_velocity_thresh: 1.5
-      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
+      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
-      enable_blocked_by_obstacle: false
+      publish_debug_marker: false