feat(avodiance_by_lc): make it possible to configurate flexibly

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Jul 23, 2023 · e3c1103 · e3c1103
1 parent 732bd5d
commit e3c1103
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Showing 4 changed files with 92 additions and 5 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -32,6 +32,7 @@
       target_object:
         car:
           is_target: true                              # [-]
+          execute_num: 1                               # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -41,6 +42,7 @@
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -50,6 +52,7 @@
           safety_buffer_longitudinal: 0.0
         bus:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -59,6 +62,7 @@
           safety_buffer_longitudinal: 0.0
         trailer:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -68,6 +72,7 @@
           safety_buffer_longitudinal: 0.0
         unknown:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -77,6 +82,7 @@
           safety_buffer_longitudinal: 0.0
         bicycle:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -86,6 +92,7 @@
           safety_buffer_longitudinal: 1.0
         motorcycle:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -95,6 +102,7 @@
           safety_buffer_longitudinal: 1.0
         pedestrian:
           is_target: true
+          execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0

diff --git a/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/...riving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
@@ -1,6 +1,82 @@
 /**:
   ros__parameters:
     avoidance_by_lane_change:
-      execute_object_num: 1
-      execute_object_longitudinal_margin: 0.0
-      execute_only_when_lane_change_finish_before_object: true
+      execute_object_longitudinal_margin: 80.0
+      execute_only_when_lane_change_finish_before_object: false
+
+      # avoidance is performed for the object type with true
+      target_object:
+        car:
+          is_target: true                              # [-]
+          execute_num: 2                               # [-]
+          moving_speed_threshold: 1.0                  # [m/s]
+          moving_time_threshold: 1.0                   # [s]
+          max_expand_ratio: 0.0                        # [-]
+          envelope_buffer_margin: 0.3                  # [m]
+          avoid_margin_lateral: 0.0                    # [m]
+          safety_buffer_lateral: 0.0                   # [m]
+        truck:
+          is_target: true
+          execute_num: 2
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.0
+        bus:
+          is_target: true
+          execute_num: 2
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.0
+        trailer:
+          is_target: true
+          execute_num: 2
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.0
+        unknown:
+          is_target: true
+          execute_num: 1
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.0
+        bicycle:
+          is_target: false
+          execute_num: 2
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 1.0
+        motorcycle:
+          is_target: false
+          execute_num: 2
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 1.0
+        pedestrian:
+          is_target: false
+          execute_num: 2
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 1.0
+        lower_distance_for_polygon_expansion: 0.0      # [m]
+        upper_distance_for_polygon_expansion: 1.0      # [m]
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -67,9 +67,8 @@
       priority: 5
       max_module_size: 1
 
-    # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
-      enable_module: false
+      enable_module: true
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false

diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -11,6 +11,8 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
+      - "avoidance_by_lane_change_left"
+      - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
       - "intersection_occlusion"
@@ -26,6 +28,8 @@
       - "lane_change_right"
       - "avoidance_left"
       - "avoidance_right"
+      - "avoidance_by_lane_change_left"
+      - "avoidance_by_lane_change_right"
       - "goal_planner"
       - "start_planner"
       - "intersection_occlusion"