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feat(path_smoother): add parameters for the replan checker #482

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Jul 27, 2023
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feat(path_smoother): add parameters for the replan checker #482

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10 changes: 10 additions & 0 deletions ...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,3 +35,13 @@
# nearest search
ego_nearest_dist_threshold: 3.0 # [m]
ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]
# replanning & trimming trajectory param outside algorithm
replan:
enable: true # if true, only perform smoothing when the input changes significantly
max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m]
max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m]
max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m]
max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
# make max_goal_moving_dist long to keep start point fixed for pull over
max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
max_delta_time_sec: 1.0 # threshold of delta time for replan [second]