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feat(behavior_path_planner): change pull over params (autowarefoundat…
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…ion#1815)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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@kosuke55 @1222-takeshi
kosuke55 authored and 1222-takeshi committed Oct 14, 2022
1 parent 8858a04 commit 87114da
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Showing 3 changed files with 16 additions and 16 deletions.
10 changes: 5 additions & 5 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
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Expand Up @@ -6,7 +6,7 @@
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
pull_over_velocity: 3.0
pull_over_minimum_velocity: 0.3
pull_over_minimum_velocity: 1.38
margin_from_boundary: 0.5
decide_path_distance: 10.0
maximum_deceleration: 1.0
Expand All @@ -15,8 +15,8 @@
search_priority: "efficient_path" # "efficient_path" or "close_goal"
forward_goal_search_length: 20.0
backward_goal_search_length: 20.0
goal_search_interval: 1.0
goal_to_obstacle_margin: 2.0
goal_search_interval: 2.0
goal_to_obstacle_margin: 3.0
# occupancy grid map
use_occupancy_grid: true
occupancy_grid_collision_check_margin: 0.0
Expand All @@ -38,8 +38,8 @@
enable_arc_backward_parking: true
after_forward_parking_straight_distance: 2.0
after_backward_parking_straight_distance: 2.0
forward_parking_velocity: 0.3
backward_parking_velocity: -0.3
forward_parking_velocity: 1.38
backward_parking_velocity: -1.38
forward_parking_lane_departure_margin: 0.0
backward_parking_lane_departure_margin: 0.0
arc_path_interval: 1.0
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10 changes: 5 additions & 5 deletions planning/behavior_path_planner/README.md
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Expand Up @@ -225,7 +225,7 @@ The Pull Over module is activated when goal is in the shoulder lane. Ego-vehicle
| th_stopped_velocity | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time | [s] | double | time threshold for arrival of path termination | 2.0 |
| pull_over_velocity | [m/s] | double | decelerate to this speed by the goal search area | 2.0 |
| pull_over_minimum_velocity | [m/s] | double | speed of pull_over after stopping once. this prevents excessive acceleration. | 0.3 |
| pull_over_minimum_velocity | [m/s] | double | speed of pull_over after stopping once. this prevents excessive acceleration. | 1.38 |
| margin_from_boundary | [m] | double | distance margin from edge of the shoulder lane | 0.5 |
| decide_path_distance | [m] | double | decide path if it approaches this distance relative to the parking position. after that, no path planning and goal search are performed | 10.0 |
| maximum_deceleration | [m/s2] | double | maximum deceleration. it prevents sudden deceleration when a parking path cannot be found suddenly | 1.0 |
Expand Down Expand Up @@ -267,8 +267,8 @@ searched for in certain range of the shoulder lane.
| enable_goal_research | - | double | flag whether to search goal | true |
| forward_goal_search_length | [m] | double | length of forward range to be explored from the original goal | 20.0 |
| backward_goal_search_length | [m] | double | length of backward range to be explored from the original goal | 20.0 |
| goal_search_interval | [m] | double | distance interval for goal search | 1.0 |
| goal_to_obstacle_margin | [m] | double | margin between ego-vehicle at the goal position and obstacles | 2.0 |
| goal_search_interval | [m] | double | distance interval for goal search | 2.0 |
| goal_to_obstacle_margin | [m] | double | margin between ego-vehicle at the goal position and obstacles | 3.0 |

#### **Path Generation**

Expand Down Expand Up @@ -326,7 +326,7 @@ Generate two forward arc paths.
| :-------------------------------------- | :---- | :----- | :------------------------------------------------------------------------------ | :------------ |
| enable_arc_forward_parking | [-] | bool | flag whether to enable arc forward parking | true |
| after_forward_parking_straight_distance | [m] | double | straight line distance after pull over end point | 2.0 |
| forward_parking_velocity | [m/s] | double | velocity when forward parking | 0.3 |
| forward_parking_velocity | [m/s] | double | velocity when forward parking | 1.38 |
| forward_parking_lane_departure_margin | [m/s] | double | lane departure margin for front left corner of ego-vehicle when forward parking | 0.0 |

###### arc backward parking
Expand All @@ -343,7 +343,7 @@ Generate two backward arc paths.
| :--------------------------------------- | :---- | :----- | :------------------------------------------------------------------------ | :------------ |
| enable_arc_backward_parking | [-] | bool | flag whether to enable arc backward parking | true |
| after_backward_parking_straight_distance | [m] | double | straight line distance after pull over end point | 2.0 |
| backward_parking_velocity | [m/s] | double | velocity when backward parking | -0.3 |
| backward_parking_velocity | [m/s] | double | velocity when backward parking | -1.38 |
| backward_parking_lane_departure_margin | [m/s] | double | lane departure margin for front right corner of ego-vehicle when backward | 0.0 |

#### Unimplemented parts / limitations for pull over
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12 changes: 6 additions & 6 deletions planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
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@@ -1,12 +1,12 @@
/**:
ros__parameters:
pull_over:
request_length: 100.0
request_length: 200.0
th_arrived_distance: 1.0
th_stopped_velocity: 0.01
th_stopped_time: 2.0 # It must be greater than the state_machine's.
pull_over_velocity: 3.0
pull_over_minimum_velocity: 0.3
pull_over_minimum_velocity: 1.38
margin_from_boundary: 0.5
decide_path_distance: 10.0
maximum_deceleration: 1.0
Expand All @@ -15,8 +15,8 @@
search_priority: "efficient_path" # "efficient_path" or "close_goal"
forward_goal_search_length: 20.0
backward_goal_search_length: 20.0
goal_search_interval: 1.0
goal_to_obstacle_margin: 2.0
goal_search_interval: 2.0
goal_to_obstacle_margin: 3.0
# occupancy grid map
use_occupancy_grid: true
occupancy_grid_collision_check_margin: 0.0
Expand All @@ -38,8 +38,8 @@
enable_arc_backward_parking: true
after_forward_parking_straight_distance: 2.0
after_backward_parking_straight_distance: 2.0
forward_parking_velocity: 0.3
backward_parking_velocity: -0.3
forward_parking_velocity: 1.38
backward_parking_velocity: -1.38
forward_parking_lane_departure_margin: 0.0
backward_parking_lane_departure_margin: 0.0
arc_path_interval: 1.0
Expand Down

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