refactor(obstacle_stop_planner): update params name for readability (t…

…ier4#1720)

* refactor(obstacle_stop_planner): update parameter name for readability

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* docs(obstacle_stop_planner): update module documentation

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* docs(obstacle_stop_planner): update figure

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(obstacle_stop_planner): separate params by namespace

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(tier4_planning_launch): separate params by namespace

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(obstacle_stop_planner): remove default value from declare_parameter

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(obstacle_stop_planner): add params to config

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml

@@ -1,25 +1,49 @@
 /**:
   ros__parameters:
+    hunting_threshold: 0.5                   # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]
+    lowpass_gain: 0.9                        # gain parameter for low pass filter [-]
+    max_velocity: 20.0                       # max velocity [m/s]
+    enable_slow_down: False                  # whether to use slow down planner [-]
+
     stop_planner:
-      stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
-      min_behavior_stop_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m]
-      step_length: 1.0 # step length for pointcloud search range [m]
-      extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance
-      expand_stop_range: 0.0 # margin of vehicle footprint [m]
+      # params for stop position
+      stop_position:
+        max_longitudinal_margin: 5.0         # stop margin distance from obstacle on the path [m]
+        min_longitudinal_margin: 5.0         # stop margin distance when any other stop point is inserted in stop margin [m]
+        hold_stop_margin_distance: 0.0       # the ego keeps stopping if the ego is in this margin [m]
+
+      # params for detection area
+      detection_area:
+        lateral_margin: 0.0                  # margin of vehicle footprint [m]
+        step_length: 1.0                     # step length for pointcloud search range [m]
+        extend_distance: 0.0                 # extend trajectory to consider after goal obstacle in the extend_distance [m]
+
 
     slow_down_planner:
-      # slow down planner parameters
-      forward_margin: 5.0 # margin distance from slow down point to vehicle front [m]
-      backward_margin: 0.0 # margin distance from slow down point to vehicle rear [m]
-      expand_slow_down_range: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
-      max_slow_down_vel: 1.38 # max slow down velocity [m/s]
-      min_slow_down_vel: 0.28 # min slow down velocity [m/s]
-
-      # slow down constraint parameters
-      consider_constraints: False # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel
-      forward_margin_min: 1.0 # min margin for relaxing slow down margin [m/s]
-      forward_margin_span: -0.1 # fineness param for relaxing slow down margin [m/s]
-      jerk_min_slow_down: -0.6 # min slow down jerk constraint [m/sss]
-      jerk_span: -0.01 # fineness param for planning deceleration jerk [m/sss]
-      jerk_start: -0.1 # init jerk used for deceleration planning [m/sss]
-      slow_down_vel: 1.38 # target slow down velocity [m/s]
+      # params for slow down section
+      slow_down_section:
+        longitudinal_forward_margin: 5.0     # margin distance from slow down point to vehicle front [m]
+        longitudinal_backward_margin: 0.0    # margin distance from slow down point to vehicle rear [m]
+        longitudinal_margin_span: -0.1       # fineness param for relaxing slow down margin (use this param if consider_constraints is True) [m/s]
+        min_longitudinal_forward_margin: 1.0 # min margin for relaxing slow down margin (use this param if consider_constraints is True) [m/s]
+
+      # params for detection area
+      detection_area:
+        lateral_margin: 1.0                  # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
+
+      # params for velocity
+      target_velocity:
+        max_slow_down_velocity: 1.38         # max slow down velocity (use this param if consider_constraints is False)[m/s]
+        min_slow_down_velocity: 0.28         # min slow down velocity (use this param if consider_constraints is False)[m/s]
+        slow_down_velocity: 1.38             # target slow down velocity (use this param if consider_constraints is True)[m/s]
+
+      # params for deceleration constraints (use this param if consider_constraints is True)
+      constraints:
+        jerk_min_slow_down: -0.6             # min slow down jerk constraint [m/sss]
+        jerk_span: -0.01                     # fineness param for planning deceleration jerk [m/sss]
+        jerk_start: -0.1                     # init jerk used for deceleration planning [m/sss]
+
+      # others
+      consider_constraints: False                 # set "True", if no decel plan found under jerk/dec constrains, relax target slow down vel [-]
+      velocity_threshold_decel_complete: 0.2      # use for judge whether the ego velocity converges the target slow down velocity [m/s]
+      acceleration_threshold_decel_complete: 0.1  # use for judge whether the ego velocity converges the target slow down velocity [m/ss]