From 507ba9e94483b639c685e20c695ce95a3d181b48 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim Date: Fri, 12 Jul 2024 02:05:58 +0300 Subject: [PATCH 1/2] feat(time-based-safe-dist): add time-based safe distance parameter Signed-off-by: Ahmed Ebrahim --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index b68395aefc..e4ec185dd6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -14,6 +14,7 @@ min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] + safe_distance_time_margin : 2.0 # This is used for time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rules [s] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] slow_down_min_acc: -1.0 # slow down min deceleration [m/ss] From 3e77fde0c411b59626b0a9fd94430bda5b9a4ff2 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim Date: Tue, 16 Jul 2024 00:36:01 +0300 Subject: [PATCH 2/2] feat(time-based-safe-dist): add parameter to select between time-based and rss methods Signed-off-by: Ahmed Ebrahim --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index e4ec185dd6..3bac1f83d1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -9,12 +9,13 @@ enable_slow_down_planning: true # longitudinal info + safe_distance_method: "time_based" # currently supported safe distance calculation methods are "rss" and "time-based" idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] - safe_distance_time_margin : 2.0 # This is used for time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rules [s] + safe_distance_time_margin : 2.0 # This is used for time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rule [s] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] slow_down_min_acc: -1.0 # slow down min deceleration [m/ss]