feat(obstacle_cruise)!: improve obstacle_cruise (#625)

* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (autowarefoundation#1142) Signed-off-by: Berkay Karaman <[email protected]> * revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621) Signed-off-by: Yuki Takagi <[email protected]> * revert(obstacle_cruisse): revert "fix(obstacle_cruise_planner): guarantee the stop margin (autowarefoundation#1076)" (autowarefoundation#1185) Signed-off-by: Yuki Takagi <[email protected]> --------- Signed-off-by: Berkay Karaman <[email protected]> Signed-off-by: Yuki Takagi <[email protected]> Co-authored-by: Berkay Karaman <[email protected]>
tier4 · Oct 10, 2024 · 783fbe5 · 783fbe5
1 parent c8a5b56
commit 783fbe5
Showing 1 changed file with 34 additions and 15 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
@@ -26,18 +26,29 @@
         enable_approaching: false
         additional_safe_distance_margin: 3.0 # [m]
         min_safe_distance_margin: 3.0 # [m]
-      suppress_sudden_obstacle_stop: false
+      suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type:
-        unknown: true
-        car: true
-        truck: true
-        bus: true
-        trailer: true
-        motorcycle: true
-        bicycle: true
-        pedestrian: true
         pointcloud: false
+        inside:
+          unknown: true
+          car: true
+          truck: true
+          bus: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          pedestrian: true
+
+        outside:
+          unknown: false
+          car: true
+          truck: true
+          bus: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          pedestrian: true
 
       cruise_obstacle_type:
         inside:
@@ -93,21 +104,29 @@
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle:
-        obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
-        obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
+        obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
+        obstacle_traj_angle_threshold : 0.523599 # [rad] = 30 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
 
       stop:
         max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint
         max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
+        min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s]
+        outside_obstacle:
+          max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s]
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
+          pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss]
+          bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss]
         crossing_obstacle:
-          collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
+          collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
       cruise:
         max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
         outside_obstacle:
-          obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
-          ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
-          max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
+          obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
+          ego_obstacle_overlap_time_threshold : 0.2 #  time threshold to decide cut-in obstacle for cruise or stop [s]
+          max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
+          max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
         yield:
           enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding