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feat(behavior_path_planner): expand the drivable area based on the vehicle footprint #204

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merged 5 commits into from
Feb 14, 2023
Merged

feat(behavior_path_planner): expand the drivable area based on the vehicle footprint #204

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5c32222
Update configuration for new drivable area expansion function
maxime-clem Jan 4, 2023
e1f029b
Add params for compensation
maxime-clem Jan 13, 2023
ea55ceb
Restructure parameters + method param (lanelet or polygon)
maxime-clem Feb 7, 2023
653c982
Add max_path_arc_length param
maxime-clem Feb 9, 2023
463bfdc
Update default config
maxime-clem Feb 9, 2023
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32 changes: 32 additions & 0 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
/**:
ros__parameters:
# Static expansion
avoidance:
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
Expand All @@ -24,3 +25,34 @@
drivable_area_right_bound_offset: 0.0
drivable_area_left_bound_offset: 0.0
drivable_area_types_to_skip: [road_border]

# Dynamic expansion by projecting the ego footprint along the path
dynamic_expansion:
enabled: false
ego:
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the ego footprint
rear: 0.5 # [m] extra length to add to the rear of the ego footprint
left: 0.5 # [m] extra length to add to the left of the ego footprint
right: 0.5 # [m] extra length to add to the rear of the ego footprint
dynamic_objects:
avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
expansion:
method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
# 'lanelet': add lanelets overlapped by the ego footprints
# 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
avoid_linestring:
types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
- road_border
distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
compensate:
enable: true # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
extra_distance: 3.0 # [m] extra distance to add to the compensation