Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(behavior_path_planner): add safety check against dynamic objects for start/goal planner #550

Merged
merged 1 commit into from
Sep 5, 2023
Merged

feat(behavior_path_planner): add safety check against dynamic objects for start/goal planner #550

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
60 changes: 60 additions & 0 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,66 @@
neighbor_radius: 8.0
margin: 1.0

stop_condition:
maximum_deceleration_for_stop: 1.0
maximum_jerk_for_stop: 1.0
path_safety_check:
# EgoPredictedPath
ego_predicted_path:
acceleration: 1.0
time_horizon: 10.0
time_resolution: 0.5
min_slow_speed: 0.0
delay_until_departure: 1.0
target_velocity: 1.0
# For target object filtering
target_filtering:
safety_check_time_horizon: 5.0
safety_check_time_resolution: 1.0
# detection range
object_check_forward_distance: 10.0
object_check_backward_distance: 100.0
ignore_object_velocity_threshold: 0.0
# ObjectTypesToCheck
object_types_to_check:
check_car: true
check_truck: true
check_bus: true
check_trailer: true
check_bicycle: true
check_motorcycle: true
check_pedestrian: true
check_unknown: false
# ObjectLaneConfiguration
object_lane_configuration:
check_current_lane: true
check_right_side_lane: true
check_left_side_lane: true
check_shoulder_lane: true
check_other_lane: false
include_opposite_lane: false
invert_opposite_lane: false
check_all_predicted_path: true
use_all_predicted_path: true
use_predicted_path_outside_lanelet: false

# For safety check
safety_check_params:
# safety check configuration
enable_safety_check: true
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 1.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0

# debug
debug:
print_debug_info: false
60 changes: 60 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,3 +72,63 @@
max_planning_time: 150.0
neighbor_radius: 8.0
margin: 1.0

stop_condition:
maximum_deceleration_for_stop: 1.0
maximum_jerk_for_stop: 1.0
path_safety_check:
# EgoPredictedPath
ego_predicted_path:
acceleration: 1.0
time_horizon: 10.0
time_resolution: 0.5
min_slow_speed: 0.0
delay_until_departure: 1.0
target_velocity: 1.0
# For target object filtering
target_filtering:
safety_check_time_horizon: 5.0
safety_check_time_resolution: 1.0
# detection range
object_check_forward_distance: 10.0
object_check_backward_distance: 100.0
ignore_object_velocity_threshold: 0.0
# ObjectTypesToCheck
object_types_to_check:
check_car: true
check_truck: true
check_bus: true
check_trailer: true
check_bicycle: true
check_motorcycle: true
check_pedestrian: true
check_unknown: false
# ObjectLaneConfiguration
object_lane_configuration:
check_current_lane: true
check_right_side_lane: true
check_left_side_lane: true
check_shoulder_lane: true
check_other_lane: false
include_opposite_lane: false
invert_opposite_lane: false
check_all_predicted_path: true
use_all_predicted_path: true
use_predicted_path_outside_lanelet: false

# For safety check
safety_check_params:
# safety check configuration
enable_safety_check: true
# collision check parameters
check_all_predicted_path: true
publish_debug_marker: false
rss_params:
rear_vehicle_reaction_time: 1.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 1.0
longitudinal_velocity_delta_time: 1.0
# temporary
backward_path_length: 30.0
forward_path_length: 100.0