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| 1 | +/**: |
| 2 | + ros__parameters: |
| 3 | + obstacle_cruise: |
| 4 | + option: |
| 5 | + planning_algorithm: "pid_base" # currently supported algorithm is "pid_base" |
| 6 | + |
| 7 | + cruise_planning: |
| 8 | + idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] |
| 9 | + min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] |
| 10 | + min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] |
| 11 | + safe_distance_margin : 5.0 # This is also used as a stop margin [m] |
| 12 | + |
| 13 | + pid_based_planner: |
| 14 | + use_velocity_limit_based_planner: true |
| 15 | + error_function_type: quadratic # choose from linear, quadratic |
| 16 | + |
| 17 | + velocity_limit_based_planner: |
| 18 | + # PID gains to keep safe distance with the front vehicle |
| 19 | + kp: 10.0 |
| 20 | + ki: 0.0 |
| 21 | + kd: 2.0 |
| 22 | + |
| 23 | + output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-] |
| 24 | + vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-] |
| 25 | + |
| 26 | + enable_jerk_limit_to_output_acc: false |
| 27 | + |
| 28 | + disable_target_acceleration: true |
| 29 | + |
| 30 | + velocity_insertion_based_planner: |
| 31 | + kp_acc: 6.0 |
| 32 | + ki_acc: 0.0 |
| 33 | + kd_acc: 2.0 |
| 34 | + |
| 35 | + kp_jerk: 20.0 |
| 36 | + ki_jerk: 0.0 |
| 37 | + kd_jerk: 0.0 |
| 38 | + |
| 39 | + output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-] |
| 40 | + output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-] |
| 41 | + |
| 42 | + enable_jerk_limit_to_output_acc: true |
| 43 | + |
| 44 | + min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss] |
| 45 | + min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s] |
| 46 | + time_to_evaluate_rss: 0.0 |
| 47 | + |
| 48 | + lpf_normalized_error_cruise_dist_gain: 0.2 |
| 49 | + |
| 50 | + optimization_based_planner: |
| 51 | + dense_resampling_time_interval: 0.2 |
| 52 | + sparse_resampling_time_interval: 2.0 |
| 53 | + dense_time_horizon: 5.0 |
| 54 | + max_time_horizon: 25.0 |
| 55 | + velocity_margin: 0.2 #[m/s] |
| 56 | + |
| 57 | + # Parameters for safe distance |
| 58 | + t_dangerous: 0.5 |
| 59 | + |
| 60 | + # For initial Motion |
| 61 | + replan_vel_deviation: 5.0 # velocity deviation to replan initial velocity [m/s] |
| 62 | + engage_velocity: 0.25 # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed) |
| 63 | + engage_acceleration: 0.1 # engage acceleration [m/ss] (use this acceleration when engagement) |
| 64 | + engage_exit_ratio: 0.5 # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity. |
| 65 | + stop_dist_to_prohibit_engage: 0.5 # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m] |
| 66 | + |
| 67 | + # Weights for optimization |
| 68 | + max_s_weight: 100.0 |
| 69 | + max_v_weight: 1.0 |
| 70 | + over_s_safety_weight: 1000000.0 |
| 71 | + over_s_ideal_weight: 50.0 |
| 72 | + over_v_weight: 500000.0 |
| 73 | + over_a_weight: 5000.0 |
| 74 | + over_j_weight: 10000.0 |
| 75 | + |
| 76 | + obstacle_filtering: |
| 77 | + object_type: |
| 78 | + inside: |
| 79 | + unknown: true |
| 80 | + car: true |
| 81 | + truck: true |
| 82 | + bus: true |
| 83 | + trailer: true |
| 84 | + motorcycle: true |
| 85 | + bicycle: true |
| 86 | + pedestrian: false |
| 87 | + |
| 88 | + outside: |
| 89 | + unknown: false |
| 90 | + car: true |
| 91 | + truck: true |
| 92 | + bus: true |
| 93 | + trailer: true |
| 94 | + motorcycle: true |
| 95 | + bicycle: false |
| 96 | + pedestrian: false |
| 97 | + |
| 98 | + max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width |
| 99 | + |
| 100 | + # if crossing vehicle is determined as target obstacles or not |
| 101 | + crossing_obstacle: |
| 102 | + obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] |
| 103 | + obstacle_traj_angle_threshold : 0.523599 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop |
| 104 | + |
| 105 | + outside_obstacle: |
| 106 | + obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] |
| 107 | + ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] |
| 108 | + max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego |
| 109 | + max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] |
| 110 | + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego |
| 111 | + yield: |
| 112 | + enable_yield: true |
| 113 | + lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding |
| 114 | + max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it |
| 115 | + max_obstacles_collision_time: 10.0 # how far the blocking obstacle |
| 116 | + stopped_obstacle_velocity_threshold: 0.5 |
| 117 | + |
| 118 | + # hysteresis for cruise and stop |
| 119 | + obstacle_velocity_threshold_from_cruise : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] |
| 120 | + obstacle_velocity_threshold_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] |
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