fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruisi…

…ng front NPCs in dense urban ODD scenarios (#1166) fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>
autowarefoundation · Sep 30, 2024 · 6c0733a · 6c0733a
1 parent ebd55cc
commit 6c0733a
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 4.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
@@ -88,8 +88,8 @@
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
       # hysteresis for cruise and stop
-      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle: