feat(avoidance): can set stop/move judge threshold for each object class

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Jun 16, 2023 · 0ea6dbc · 0ea6dbc
1 parent 202d416
commit 0ea6dbc
Showing 1 changed file with 16 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -29,48 +29,64 @@
       target_object:
         car:
           enable: true                                 # [-]
+          stopped_speed_threshold: 1.0                 # [m/s]
+          moving_time_threshold: 1.0                   # [s]
           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
+          stopped_speed_threshold: 1.0
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
+          stopped_speed_threshold: 1.0
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
+          stopped_speed_threshold: 1.0
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
+          stopped_speed_threshold: 0.5
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
           enable: false
+          stopped_speed_threshold: 0.5
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
+          stopped_speed_threshold: 1.0
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
+          stopped_speed_threshold: 0.5
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
@@ -81,8 +97,6 @@
       # 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]