-
Notifications
You must be signed in to change notification settings - Fork 222
/
obstacle_stop_planner.param.yaml
64 lines (56 loc) · 4.63 KB
/
obstacle_stop_planner.param.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
/**:
ros__parameters:
chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_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 [-]
enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-]
z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m]
voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m]
voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m]
voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m]
use_predicted_objects: False # whether to use predicted objects [-]
publish_obstacle_polygon: False # whether to publish obstacle polygon [-]
predicted_object_filtering_threshold: 1.5 # threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m]
stop_planner:
# params for stop position
stop_position:
max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m]
max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal 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 [m]
vehicle_lateral_margin: 0.0 # margin of vehicle footprint [m]
pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m]
unknown_lateral_margin: 0.0 # margin of unknown footprint [m]
step_length: 1.0 # step length for pointcloud search range [m]
enable_stop_behind_goal_for_obstacle: True # enable extend trajectory after goal lane for obstacle detection
slow_down_planner:
# 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]
vehicle_lateral_margin: 1.0 # offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]
pedestrian_lateral_margin: 1.0 # offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m]
unknown_lateral_margin: 1.0 # offset from unknown 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]