From 602c46f4abd353a8a42fc219aee6b182f9ec6588 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 6 Jul 2022 16:17:37 +0900 Subject: [PATCH] feat(planning_launch): update params for new crosswalk module (#375) * feat(planning_launch): add new crosswalk params Signed-off-by: satoshi-ota * chore(planning_launch): add paramter description Signed-off-by: satoshi-ota --- .../crosswalk.param.yaml | 51 +++++++++++++++---- 1 file changed, 40 insertions(+), 11 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 92e8ba680..4ea3229d4 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -1,14 +1,43 @@ /**: ros__parameters: crosswalk: - crosswalk: - stop_line_distance: 1.5 # make stop line away from crosswalk when no explicit stop line exists - stop_margin: 1.0 - slow_margin: 2.0 - slow_velocity: 2.76 # 2.76 m/s = 10.0 kmph - stop_predicted_object_prediction_time_margin: 3.0 - - walkway: - stop_line_distance: 1.5 # make stop line away from walkway when no explicit stop line exists - stop_margin: 1.0 - stop_duration_sec: 1.0 + show_processing_time: false # [-] whether to show processing time + + # param for stop position + stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists + stop_line_margin: 10.0 # [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_margin meters before the object) + stop_margin: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin + stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk + + # param for ego velocity + slow_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph) + max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake + max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake + no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph) + + # param for stuck vehicle + stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck + max_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked + stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk + + # param for pass judge logic + ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) + stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph) + min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) + max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first. + + # param for input data + tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal + + # param for target area & object + crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk + target_object: + unknown: true # [-] whether to look and stop by UNKNOWN objects + bicycle: true # [-] whether to look and stop by BICYCLE objects + motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.) + pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects + + walkway: + stop_duration_sec: 1.0 # [s] stop time at stop position + stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists