From 8a93b51ac011ee381bec1a20eaf2d95f2130bfac Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 9 Apr 2024 15:34:17 +0900 Subject: [PATCH] fix(avoidance): tuning avoidance parameters for J6 Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 46 +++++++++---------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 3ea96f9f73..c16a4d51db 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -30,11 +30,11 @@ moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] lateral_margin: - soft_margin: 1.0 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.2 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.3 # [m] + envelope_buffer_margin: 0.1 # [m] safety_buffer_longitudinal: 0.0 # [m] use_conservative_buffer_longitudinal: false # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: @@ -42,11 +42,11 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 lateral_margin: - soft_margin: 1.0 # [m] - hard_margin: 0.4 # [m] - hard_margin_for_parked_vehicle: 0.4 # [m] + soft_margin: 0.2 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 + envelope_buffer_margin: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false bus: @@ -54,11 +54,11 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 lateral_margin: - soft_margin: 0.0 # [m] - hard_margin: 0.8 # [m] - hard_margin_for_parked_vehicle: 0.8 # [m] + soft_margin: 0.2 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 + envelope_buffer_margin: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false trailer: @@ -66,11 +66,11 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 lateral_margin: - soft_margin: 0.0 # [m] - hard_margin: 0.8 # [m] - hard_margin_for_parked_vehicle: 0.8 # [m] + soft_margin: 0.2 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 - envelope_buffer_margin: 0.3 + envelope_buffer_margin: 0.1 safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: false unknown: @@ -233,7 +233,7 @@ longitudinal: min_prepare_time: 1.0 # [s] max_prepare_time: 2.0 # [s] - min_prepare_distance: 1.0 # [m] + min_prepare_distance: 4.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] nominal_avoidance_speed: 8.33 # [m/s] @@ -266,7 +266,7 @@ # but there is a possibility that the vehicle can't stop in front of the vehicle. # "reliable": insert stop or slow down point with ignoring decel/jerk constraints. # make it possible to increase chance to avoid but uncomfortable deceleration maybe happen. - deceleration: "best_effort" # [-] + deceleration: "reliable" # [-] # policy for avoidance lateral margin. select "best_effort" or "reliable". # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal # margin to avoid. @@ -274,15 +274,15 @@ # with expected lateral margin. lateral_margin: "best_effort" # [-] # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. - use_shorten_margin_immediately: true # [-] + use_shorten_margin_immediately: false # [-] constraints: # lateral constraints lateral: - velocity: [1.0, 1.38, 11.1] # [m/s] + velocity: [2.78, 8.33, 11.1] # [m/s] max_accel_values: [0.5, 0.5, 0.5] # [m/ss] - min_jerk_values: [0.1, 0.1, 0.2] # [m/sss] - max_jerk_values: [0.2, 0.2, 1.0] # [m/sss] + min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] + max_jerk_values: [0.5, 1.0, 1.0] # [m/sss] # longitudinal constraints longitudinal: @@ -290,7 +290,7 @@ nominal_jerk: 0.5 # [m/sss] max_deceleration: -1.5 # [m/ss] max_jerk: 1.0 # [m/sss] - max_acceleration: 0.5 # [m/ss] + max_acceleration: 0.3 # [m/ss] min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] shift_line_pipeline: