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correct parameters description
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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‎planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md

+23-23
Original file line numberDiff line numberDiff line change
@@ -32,29 +32,29 @@ Currently, when clipping left bound or right bound, it can clip the bound more t
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### Dynamic expansion
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| Name | Unit | Type | Description | Default value |
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| :------------------------------------------- | :---- | :----------- | :------------------------------------------------------------------------------------------------------ | :--------------------------- |
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| enabled | [-] | boolean | if true, dynamically expand the drivable area based on the path curvature | true |
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| print_runtime | [-] | boolean | if true, runtime is logged by the node | true |
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| max_expansion_distance | [m] | double | maximum distance by which the original drivable area can be expanded (no limit if set to 0) | 0.0 |
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| smoothing.curvature_average_window | [-] | int | window size used for smoothing the curvatures using a moving window average | 3 |
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| smoothing.max_bound_rate | [m/m] | double | maximum rate of change of the bound lateral distance over its arc length | 1.0 |
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| smoothing.arc_length_range | [m] | double | arc length range where an expansion distance is initially applied | 2.0 |
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| ego.extra_wheel_base | [m] | double | extra ego wheelbase | 0.0 |
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| ego.extra_front_overhang | [m] | double | extra ego overhang | 0.5 |
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| ego.extra_width | [m] | double | extra ego width | 1.0 |
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| object_exclusion.exclude_static | [-] | boolean | if true, the drivable area is not expanded over static objects | true |
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| object_exclusion.exclude_dynamic | [-] | boolean | if true, the drivable area is not expanded in the predicted path of dynamic objects | true |
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| object_exclusion.th_stopped_object_velocity | [m/s] | double | extra length to add to the front of the ego footprint | 0.5 |
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| object_exclusion.safety_margin.front | [m] | double | extra length to add to the front of the ego footprint | 0.5 |
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| object_exclusion.safety_margin.rear | [m] | double | extra length to add to the rear of the ego footprint | 0.5 |
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| object_exclusion.safety_margin.left | [m] | double | extra length to add to the left of the ego footprint | 0.5 |
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| object_exclusion.safety_margin.right | [m] | double | extra length to add to the right of the ego footprint | 0.5 |
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| path_preprocessing.max_arc_length | [m] | double | maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | 100.0 |
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| path_preprocessing.resample_interval | [m] | double | fixed interval between resampled path points (0.0 means path points are directly used) | 2.0 |
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| path_preprocessing.reuse_max_deviation | [m] | double | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5 |
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| avoid_linestring.types | [-] | string array | linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ["road_border", "curbstone"] |
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| avoid_linestring.distance | [m] | double | distance to keep between the drivable area and the linestrings to avoid | 0.0 |
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| Name | Unit | Type | Description | Default value |
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| :------------------------------------------ | :---- | :----------- | :------------------------------------------------------------------------------------------------------ | :--------------------------- |
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| enabled | [-] | boolean | if true, dynamically expand the drivable area based on the path curvature | true |
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| print_runtime | [-] | boolean | if true, runtime is logged by the node | true |
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| max_expansion_distance | [m] | double | maximum distance by which the original drivable area can be expanded (no limit if set to 0) | 0.0 |
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| smoothing.curvature_average_window | [-] | int | window size used for smoothing the curvatures using a moving window average | 3 |
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| smoothing.max_bound_rate | [m/m] | double | maximum rate of change of the bound lateral distance over its arc length | 1.0 |
42+
| smoothing.arc_length_range | [m] | double | arc length range where an expansion distance is initially applied | 2.0 |
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| ego.extra_wheel_base | [m] | double | extra ego wheelbase | 0.0 |
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| ego.extra_front_overhang | [m] | double | extra ego overhang | 0.5 |
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| ego.extra_width | [m] | double | extra ego width | 1.0 |
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| object_exclusion.exclude_static | [-] | boolean | if true, the drivable area is not expanded over static objects | true |
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| object_exclusion.exclude_dynamic | [-] | boolean | if true, the drivable area is not expanded in the predicted path of dynamic objects | true |
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| object_exclusion.th_stopped_object_velocity | [m/s] | double | velocity threshold for static objects | 1.0 |
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| object_exclusion.safety_margin.front | [m] | double | extra length to add to the front of the object footprint | 0.75 |
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| object_exclusion.safety_margin.rear | [m] | double | extra length to add to the rear of the object footprint | 0.75 |
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| object_exclusion.safety_margin.left | [m] | double | extra length to add to the left of the object footprint | 0.75 |
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| object_exclusion.safety_margin.right | [m] | double | extra length to add to the right of the object footprint | 0.75 |
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| path_preprocessing.max_arc_length | [m] | double | maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | 100.0 |
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| path_preprocessing.resample_interval | [m] | double | fixed interval between resampled path points (0.0 means path points are directly used) | 2.0 |
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| path_preprocessing.reuse_max_deviation | [m] | double | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5 |
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| avoid_linestring.types | [-] | string array | linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ["road_border", "curbstone"] |
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| avoid_linestring.distance | [m] | double | distance to keep between the drivable area and the linestrings to avoid | 0.0 |
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## Inner-workings / Algorithms
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‎planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp

+6-3
Original file line numberDiff line numberDiff line change
@@ -50,8 +50,10 @@ struct DrivableAreaExpansionParameters
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"dynamic_expansion.path_preprocessing.max_arc_length";
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static constexpr auto MAX_REUSE_DEVIATION_PARAM =
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"dynamic_expansion.path_preprocessing.reuse_max_deviation";
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static constexpr auto AVOID_STA_OBJECTS_PARAM = "dynamic_expansion.object_exclusion.exclude_static";
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static constexpr auto AVOID_DYN_OBJECTS_PARAM = "dynamic_expansion.object_exclusion.exclude_dynamic";
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static constexpr auto AVOID_STA_OBJECTS_PARAM =
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"dynamic_expansion.object_exclusion.exclude_static";
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static constexpr auto AVOID_DYN_OBJECTS_PARAM =
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"dynamic_expansion.object_exclusion.exclude_dynamic";
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static constexpr auto AVOID_LINESTRING_TYPES_PARAM = "dynamic_expansion.avoid_linestring.types";
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static constexpr auto AVOID_LINESTRING_DIST_PARAM = "dynamic_expansion.avoid_linestring.distance";
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static constexpr auto SMOOTHING_CURVATURE_WINDOW_PARAM =
@@ -83,7 +85,8 @@ struct DrivableAreaExpansionParameters
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double min_bound_interval{};
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bool print_runtime{};
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struct ObjectExclusion{
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struct ObjectExclusion
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{
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bool exclude_static{};
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bool exclude_dynamic{};
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double front_offset{};

‎planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp

+8-6
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@@ -15,7 +15,6 @@
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#include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp"
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#include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp"
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#include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
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#include <autoware_utils/geometry/boost_polygon_utils.hpp>
@@ -74,11 +73,14 @@ MultiPolygon2d create_object_footprints(
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continue;
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}
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if (params.object_exclusion.exclude_static && velocity_filter(
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object.kinematics.initial_twist_with_covariance.twist, -std::numeric_limits<double>::epsilon(),
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params.object_exclusion.stopped_obj_vel_th)) {
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footprints.push_back(create_footprint(object.kinematics.initial_pose_with_covariance.pose, base_footprint));
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}
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if (
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params.object_exclusion.exclude_static &&
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velocity_filter(
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object.kinematics.initial_twist_with_covariance.twist,
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-std::numeric_limits<double>::epsilon(), params.object_exclusion.stopped_obj_vel_th)) {
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footprints.push_back(
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create_footprint(object.kinematics.initial_pose_with_covariance.pose, base_footprint));
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}
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}
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return footprints;
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}

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