diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 0231003e243f9..98488a82d8a78 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml @@ -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 @@ -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 @@ -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 diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index fffd66539b712..5a2a1fe1768d0 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -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 | @@ -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** @@ -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 @@ -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 diff --git a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml index 3845ac6d3fe60..98488a82d8a78 100644 --- a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml +++ b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml @@ -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 @@ -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 @@ -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