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 new file mode 100644 index 0000000000..f7f1cfc07e --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -0,0 +1,167 @@ +# see AvoidanceParameters description in avoidance_module_data.hpp for description. +/**: + ros__parameters: + avoidance: + resample_interval_for_planning: 0.3 # [m] + resample_interval_for_output: 4.0 # [m] + detection_area_right_expand_dist: 0.0 # [m] + detection_area_left_expand_dist: 1.0 # [m] + drivable_area_right_bound_offset: 0.0 # [m] + drivable_area_left_bound_offset: 0.0 # [m] + + # avoidance module common setting + enable_bound_clipping: false + enable_avoidance_over_same_direction: true + enable_avoidance_over_opposite_direction: true + enable_update_path_when_object_is_gone: false + enable_force_avoidance_for_stopped_vehicle: false + enable_safety_check: true + enable_yield_maneuver: true + enable_yield_maneuver_during_shifting: false + disable_path_update: false + use_hatched_road_markings: false + + # for debug + publish_debug_marker: false + print_debug_info: false + + # avoidance is performed for the object type with true + target_object: + car: + enable: true # [-] + max_expand_ratio: 0.0 # [-] + envelope_buffer_margin: 0.3 # [m] + safety_buffer_lateral: 0.7 # [m] + safety_buffer_longitudinal: 0.0 # [m] + truck: + enable: true + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + safety_buffer_lateral: 0.7 + safety_buffer_longitudinal: 0.0 + bus: + enable: true + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + safety_buffer_lateral: 0.7 + safety_buffer_longitudinal: 0.0 + trailer: + enable: true + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + safety_buffer_lateral: 0.7 + safety_buffer_longitudinal: 0.0 + unknown: + enable: false + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.3 + safety_buffer_lateral: 0.7 + safety_buffer_longitudinal: 0.0 + bicycle: + enable: false + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.8 + safety_buffer_lateral: 1.0 + safety_buffer_longitudinal: 1.0 + motorcycle: + enable: false + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.8 + safety_buffer_lateral: 1.0 + safety_buffer_longitudinal: 1.0 + pedestrian: + enable: false + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.8 + safety_buffer_lateral: 1.0 + safety_buffer_longitudinal: 1.0 + lower_distance_for_polygon_expansion: 30.0 # [m] + upper_distance_for_polygon_expansion: 100.0 # [m] + + # For target object filtering + target_filtering: + # filtering moving objects + threshold_speed_object_is_stopped: 1.0 # [m/s] + threshold_time_object_is_moving: 1.0 # [s] + threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] + # detection range + object_ignore_distance_traffic_light: 30.0 # [m] + object_ignore_distance_crosswalk_forward: 30.0 # [m] + object_ignore_distance_crosswalk_backward: 30.0 # [m] + object_check_forward_distance: 150.0 # [m] + object_check_backward_distance: 10.0 # [m] + object_check_goal_distance: 20.0 # [m] + # filtering parking objects + threshold_distance_object_is_on_center: 1.0 # [m] + object_check_shiftable_ratio: 0.6 # [-] + object_check_min_road_shoulder_width: 0.5 # [m] + # lost object compensation + object_last_seen_threshold: 2.0 + + # For safety check + safety_check: + safety_check_backward_distance: 100.0 # [m] + safety_check_time_horizon: 10.0 # [s] + safety_check_idling_time: 1.5 # [s] + safety_check_accel_for_rss: 2.5 # [m/ss] + safety_check_hysteresis_factor: 2.0 # [-] + + # For avoidance maneuver + avoidance: + # avoidance lateral parameters + lateral: + lateral_collision_margin: 1.0 # [m] + lateral_execution_threshold: 0.499 # [m] + lateral_small_shift_threshold: 0.101 # [m] + road_shoulder_safety_margin: 0.3 # [m] + max_right_shift_length: 5.0 + max_left_shift_length: 5.0 + # avoidance distance parameters + longitudinal: + prepare_time: 2.0 # [s] + min_prepare_distance: 1.0 # [m] + min_avoidance_distance: 10.0 # [m] + min_nominal_avoidance_speed: 7.0 # [m/s] + min_sharp_avoidance_speed: 1.0 # [m/s] + + # For yield maneuver + yield: + yield_velocity: 2.78 # [m/s] + + # For stop maneuver + stop: + min_distance: 10.0 # [m] + max_distance: 20.0 # [m] + + constraints: + # vehicle slows down under longitudinal constraints + use_constraints_for_decel: false # [-] + + # lateral constraints + lateral: + nominal_lateral_jerk: 0.2 # [m/s3] + max_lateral_jerk: 1.0 # [m/s3] + + # longitudinal constraints + longitudinal: + nominal_deceleration: -1.0 # [m/ss] + nominal_jerk: 0.5 # [m/sss] + max_deceleration: -2.0 # [m/ss] + max_jerk: 1.0 + # For prevention of large acceleration while avoidance + min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] + max_avoidance_acceleration: 0.5 # [m/ss] + + target_velocity_matrix: + col_size: 2 + matrix: + [2.78, 13.9, # velocity [m/s] + 0.50, 1.00] # margin [m] + + shift_line_pipeline: + trim: + quantize_filter_threshold: 0.2 + same_grad_filter_1_threshold: 0.1 + same_grad_filter_2_threshold: 0.2 + same_grad_filter_3_threshold: 0.5 + sharp_shift_filter_threshold: 0.2