Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

refactor: intersection module #391

Merged
merged 4 commits into from
Jun 12, 2023
Merged

refactor: intersection module #391

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
8c0bf61
WIP
soblin May 31, 2023
9e4e46d
update for docs
soblin Jun 7, 2023
1ef9549
use finer path interpolation ds
soblin Jun 8, 2023
23e7a2b
fix before_creep_tiem to before
soblin Jun 8, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 8 additions & 9 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,24 +2,23 @@
ros__parameters:
intersection:
common:
detection_area_margin: 0.5 # [m]
detection_area_right_margin: 0.5 # [m]
detection_area_left_margin: 0.5 # [m]
detection_area_length: 200.0 # [m]
detection_area_angle_threshold: 0.785 # [rad]
attention_area_margin: 0.5 # [m]
attention_area_length: 200.0 # [m]
attention_area_angle_threshold: 0.785 # [rad]
stop_line_margin: 3.0
intersection_velocity: 2.778 # 2.778m/s = 10.0km/h
intersection_max_accel: 0.5 # m/ss
stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
use_intersection_area: false
path_interpolation_ds: 0.1 # [m]

stuck_vehicle:
use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
enable_front_car_decel_prediction: false # By default this feature is disabled
assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
# enable_front_car_decel_prediction: false # By default this feature is disabled
# assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning

collision_detection:
state_transit_margin_time: 1.0
Expand All @@ -31,7 +30,7 @@

occlusion:
enable: false
occlusion_detection_area_length: 70.0 # [m]
occlusion_attention_area_length: 70.0 # [m]
enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
peeking_offset: -0.5 # [m] offset for peeking into detection area
Expand Down