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feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #1073

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feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #1073

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feat(time-based-safe-dist): add time-based safe distance parameter
Jul 11, 2024
3e77fde
feat(time-based-safe-dist): add parameter to select between time-base…
Jul 15, 2024
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2 changes: 2 additions & 0 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -9,11 +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 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]
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