feat(behavior_path_planner): update pull out (#439)

* feat(behavior_path_planner): update pull out Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add search priority Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * change before_pull_out_straight_distance to 0.0 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Sep 2, 2022 · 0415844 · 0415844
1 parent 21a4dbe
commit 0415844
Showing 1 changed file with 23 additions and 18 deletions.
diff --git a/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -1,25 +1,30 @@
 /**:
   ros__parameters:
     pull_out:
-      min_stop_distance: 2.0
-      stop_time: 0.0
-      hysteresis_buffer_distance: 1.0
-      pull_out_prepare_duration: 4.0
-      pull_out_duration: 2.0
+      th_arrived_distance: 1.0
+      th_stopped_velocity: 0.01
+      th_stopped_time: 1.0
+      collision_check_margin: 1.0
       pull_out_finish_judge_buffer: 1.0
-      minimum_pull_out_velocity: 2.0
-      prediction_duration: 30.0
-      prediction_time_resolution: 0.5
-      static_obstacle_velocity_thresh: 1.5
-      maximum_deceleration: 1.0
-      enable_collision_check_at_prepare_phase: false
-      use_predicted_path_outside_lanelet: false
-      use_all_predicted_path: false
-      use_dynamic_object: true
-      enable_blocked_by_obstacle: false
-      pull_out_search_distance: 30.0
-      before_pull_out_straight_distance: 5.0
-      after_pull_out_straight_distance: 5.0
+      # shift pull out
+      enable_shift_pull_out: true
+      shift_pull_out_velocity: 2.0
+      pull_out_sampling_num: 4
+      before_pull_out_straight_distance: 0.0
+      minimum_shift_pull_out_distance: 20.0
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
+      # geometric pull out
+      enable_geometric_pull_out: true
+      geometric_pull_out_velocity: 1.0
+      arc_path_interval: 1.0
+      lane_departure_margin: 0.2
+      backward_velocity: -1.0
+      pull_out_max_steer_angle: 0.26  # 15deg
+      # search start pose backward
+      enable_back: true
+      search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
+      max_back_distance: 15.0
+      backward_search_resolution: 2.0
+      backward_path_update_duration: 3.0