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feat(dynamic_obstacle_stop): update dynamic_obstacle_stop.param.yaml #999

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feat(dynamic_obstacle_stop): update dynamic_obstacle_stop.param.yaml #999

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8 changes: 7 additions & 1 deletion ...lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,12 +1,18 @@
/**:
ros__parameters:
dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
extra_object_width: 1.0 # [m] extra width around detected objects
minimum_object_velocity: 0.5 # [m/s] objects with a velocity bellow this value are ignored
extra_object_width: 1.0 # [m] extra width around detected objects
extra_object_footprint_width: 0.0 # [m] extra width around detected objects for footprint
stop_distance_buffer: 0.5 # [m] extra distance to add between the stop point and the collision point
time_horizon: 5.0 # [s] time horizon used for collision checks
yaw_threshold: 2.35 # [rad] yaw threshold used for collision checks
yaw_threshold_behind_object: 0.6 # [rad] yaw threshold used for collision checks for objects behind the ego vehicle
hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection
add_stop_duration_buffer : 0.5 # [s] duration where a collision must be continuously detected before a stop decision is added
remove_stop_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being remove
minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision
ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
ignore_objects_behind_ego: false # if true, ignore objects that are behind the ego vehicle
behind_object_distance_threshold: 10.0 # [m] distance behind the ego vehicle to ignore objects
use_predicted_path: true # if true, use the predicted path of the object to calculate the collision point
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