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‎planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json

Lines changed: 188 additions & 188 deletions
Original file line numberDiff line numberDiff line change
@@ -6,196 +6,196 @@
66
"adaptive_cruise_control": {
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"type": "object",
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"properties": {
9-
"adaptive_cruise_control": {
10-
"type": "object",
11-
"properties": {
12-
"use_object_to_estimate_vel": {
13-
"type": "boolean",
14-
"description": "use tracking objects for estimating object velocity or not",
15-
"default": "true"
16-
},
17-
"use_pcl_to_estimate_vel": {
18-
"type": "boolean",
19-
"description": "use pcl for estimating object velocity or not",
20-
"default": "true"
21-
},
22-
"consider_obj_velocity": {
23-
"type": "boolean",
24-
"description": "consider forward vehicle velocity to ACC or not",
25-
"default": "true"
26-
},
27-
"obstacle_velocity_thresh_to_start_acc": {
28-
"type": "number",
29-
"description": "start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]",
30-
"default": "1.5"
31-
},
32-
"obstacle_velocity_thresh_to_stop_acc": {
33-
"type": "number",
34-
"description": "stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]",
35-
"default": "1.0"
36-
},
37-
"emergency_stop_acceleration": {
38-
"type": "number",
39-
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
40-
"default": "-5.0"
41-
},
42-
"emergency_stop_idling_time": {
43-
"type": "number",
44-
"description": "supposed idling time to start emergency stop [s]",
45-
"default": "0.5"
46-
},
47-
"min_dist_stop": {
48-
"type": "number",
49-
"description": "minimum distance of emergency stop [m]",
50-
"default": "4.0"
51-
},
52-
"obstacle_emergency_stop_acceleration": {
53-
"type": "number",
54-
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
55-
"default": "-5.0"
56-
},
57-
"max_standard_acceleration": {
58-
"type": "number",
59-
"description": "supposed maximum acceleration in active cruise control [m/ss]",
60-
"default": "0.5"
61-
},
62-
"min_standard_acceleration": {
63-
"type": "number",
64-
"description": "supposed minimum acceleration (deceleration) in active cruise control",
65-
"default": "-1.0"
66-
},
67-
"standard_idling_time": {
68-
"type": "number",
69-
"description": "supposed idling time to react object in active cruise control [s]",
70-
"default": "0.5"
71-
},
72-
"min_dist_standard": {
73-
"type": "number",
74-
"description": "minimum distance in active cruise control [m]",
75-
"default": "4.0"
76-
},
77-
"obstacle_min_standard_acceleration": {
78-
"type": "number",
79-
"description": "supposed minimum acceleration of forward obstacle [m/ss]",
80-
"default": "-1.5"
81-
},
82-
"margin_rate_to_change_vel": {
83-
"type": "number",
84-
"description": "margin to insert upper velocity [-]",
85-
"default": "0.3"
86-
},
87-
"use_time_compensation_to_calc_distance": {
88-
"type": "boolean",
89-
"description": "use time-compensation to calculate distance to forward vehicle",
90-
"default": "true"
91-
},
92-
"p_coefficient_positive": {
93-
"type": "number",
94-
"description": "coefficient P in PID control (used when target dist -current_dist >=0) [-]",
95-
"default": "0.1"
96-
},
97-
"p_coefficient_negative": {
98-
"type": "number",
99-
"description": "coefficient P in PID control (used when target dist -current_dist <0) [-]",
100-
"default": "0.3"
101-
},
102-
"d_coefficient_positive": {
103-
"type": "number",
104-
"description": "coefficient D in PID control (used when delta_dist >=0) [-]",
105-
"default": "0.0"
106-
},
107-
"d_coefficient_negative": {
108-
"type": "number",
109-
"description": "coefficient D in PID control (used when delta_dist <0) [-]",
110-
"default": "0.2"
111-
},
112-
"object_polygon_length_margin": {
113-
"type": "number",
114-
"description": "The distance to extend the polygon length the object in pointcloud-object matching [m]",
115-
"default": "2.0"
116-
},
117-
"object_polygon_width_margin": {
118-
"type": "number",
119-
"description": "The distance to extend the polygon width the object in pointcloud-object matching [m]",
120-
"default": "0.5"
121-
},
122-
"valid_estimated_vel_diff_time": {
123-
"type": "number",
124-
"description": "Maximum time difference treated as continuous points in speed estimation using a point cloud [s]",
125-
"default": "1.0"
126-
},
127-
"valid_vel_que_time": {
128-
"type": "number",
129-
"description": "Time width of information used for speed estimation in speed estimation using a point cloud [s]",
130-
"default": "0.5"
131-
},
132-
"valid_estimated_vel_max": {
133-
"type": "number",
134-
"description": "Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
135-
"default": "20.0"
136-
},
137-
"valid_estimated_vel_min": {
138-
"type": "number",
139-
"description": "Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
140-
"default": "-20.0"
141-
},
142-
"thresh_vel_to_stop": {
143-
"type": "number",
144-
"description": "Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s]",
145-
"default": "1.5"
146-
},
147-
"lowpass_gain_of_upper_velocity": {
148-
"type": "number",
149-
"description": "Lowpass-gain of upper velocity",
150-
"default": "0.75"
151-
},
152-
"use_rough_velocity_estimation": {
153-
"type": "boolean",
154-
"description": "Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####)",
155-
"default": "false"
156-
},
157-
"rough_velocity_rate": {
158-
"type": "number",
159-
"description": "In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value",
160-
"default": "0.9"
161-
}
9+
"adaptive_cruise_control": {
10+
"type": "object",
11+
"properties": {
12+
"use_object_to_estimate_vel": {
13+
"type": "boolean",
14+
"description": "use tracking objects for estimating object velocity or not",
15+
"default": "true"
16+
},
17+
"use_pcl_to_estimate_vel": {
18+
"type": "boolean",
19+
"description": "use pcl for estimating object velocity or not",
20+
"default": "true"
21+
},
22+
"consider_obj_velocity": {
23+
"type": "boolean",
24+
"description": "consider forward vehicle velocity to ACC or not",
25+
"default": "true"
26+
},
27+
"obstacle_velocity_thresh_to_start_acc": {
28+
"type": "number",
29+
"description": "start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]",
30+
"default": "1.5"
31+
},
32+
"obstacle_velocity_thresh_to_stop_acc": {
33+
"type": "number",
34+
"description": "stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]",
35+
"default": "1.0"
36+
},
37+
"emergency_stop_acceleration": {
38+
"type": "number",
39+
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
40+
"default": "-5.0"
41+
},
42+
"emergency_stop_idling_time": {
43+
"type": "number",
44+
"description": "supposed idling time to start emergency stop [s]",
45+
"default": "0.5"
46+
},
47+
"min_dist_stop": {
48+
"type": "number",
49+
"description": "minimum distance of emergency stop [m]",
50+
"default": "4.0"
51+
},
52+
"obstacle_emergency_stop_acceleration": {
53+
"type": "number",
54+
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
55+
"default": "-5.0"
56+
},
57+
"max_standard_acceleration": {
58+
"type": "number",
59+
"description": "supposed maximum acceleration in active cruise control [m/ss]",
60+
"default": "0.5"
61+
},
62+
"min_standard_acceleration": {
63+
"type": "number",
64+
"description": "supposed minimum acceleration (deceleration) in active cruise control",
65+
"default": "-1.0"
66+
},
67+
"standard_idling_time": {
68+
"type": "number",
69+
"description": "supposed idling time to react object in active cruise control [s]",
70+
"default": "0.5"
71+
},
72+
"min_dist_standard": {
73+
"type": "number",
74+
"description": "minimum distance in active cruise control [m]",
75+
"default": "4.0"
76+
},
77+
"obstacle_min_standard_acceleration": {
78+
"type": "number",
79+
"description": "supposed minimum acceleration of forward obstacle [m/ss]",
80+
"default": "-1.5"
81+
},
82+
"margin_rate_to_change_vel": {
83+
"type": "number",
84+
"description": "margin to insert upper velocity [-]",
85+
"default": "0.3"
86+
},
87+
"use_time_compensation_to_calc_distance": {
88+
"type": "boolean",
89+
"description": "use time-compensation to calculate distance to forward vehicle",
90+
"default": "true"
91+
},
92+
"p_coefficient_positive": {
93+
"type": "number",
94+
"description": "coefficient P in PID control (used when target dist -current_dist >=0) [-]",
95+
"default": "0.1"
96+
},
97+
"p_coefficient_negative": {
98+
"type": "number",
99+
"description": "coefficient P in PID control (used when target dist -current_dist <0) [-]",
100+
"default": "0.3"
101+
},
102+
"d_coefficient_positive": {
103+
"type": "number",
104+
"description": "coefficient D in PID control (used when delta_dist >=0) [-]",
105+
"default": "0.0"
106+
},
107+
"d_coefficient_negative": {
108+
"type": "number",
109+
"description": "coefficient D in PID control (used when delta_dist <0) [-]",
110+
"default": "0.2"
111+
},
112+
"object_polygon_length_margin": {
113+
"type": "number",
114+
"description": "The distance to extend the polygon length the object in pointcloud-object matching [m]",
115+
"default": "2.0"
116+
},
117+
"object_polygon_width_margin": {
118+
"type": "number",
119+
"description": "The distance to extend the polygon width the object in pointcloud-object matching [m]",
120+
"default": "0.5"
121+
},
122+
"valid_estimated_vel_diff_time": {
123+
"type": "number",
124+
"description": "Maximum time difference treated as continuous points in speed estimation using a point cloud [s]",
125+
"default": "1.0"
126+
},
127+
"valid_vel_que_time": {
128+
"type": "number",
129+
"description": "Time width of information used for speed estimation in speed estimation using a point cloud [s]",
130+
"default": "0.5"
131+
},
132+
"valid_estimated_vel_max": {
133+
"type": "number",
134+
"description": "Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
135+
"default": "20.0"
136+
},
137+
"valid_estimated_vel_min": {
138+
"type": "number",
139+
"description": "Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
140+
"default": "-20.0"
141+
},
142+
"thresh_vel_to_stop": {
143+
"type": "number",
144+
"description": "Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s]",
145+
"default": "1.5"
146+
},
147+
"lowpass_gain_of_upper_velocity": {
148+
"type": "number",
149+
"description": "Lowpass-gain of upper velocity",
150+
"default": "0.75"
151+
},
152+
"use_rough_velocity_estimation": {
153+
"type": "boolean",
154+
"description": "Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####)",
155+
"default": "false"
156+
},
157+
"rough_velocity_rate": {
158+
"type": "number",
159+
"description": "In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value",
160+
"default": "0.9"
161+
}
162+
},
163+
"required": [
164+
"use_object_to_estimate_vel",
165+
"use_pcl_to_estimate_vel",
166+
"consider_obj_velocity",
167+
"obstacle_velocity_thresh_to_start_acc",
168+
"obstacle_velocity_thresh_to_stop_acc",
169+
"emergency_stop_acceleration",
170+
"emergency_stop_idling_time",
171+
"min_dist_stop",
172+
"obstacle_emergency_stop_acceleration",
173+
"max_standard_acceleration",
174+
"min_standard_acceleration",
175+
"standard_idling_time",
176+
"min_dist_standard",
177+
"obstacle_min_standard_acceleration",
178+
"margin_rate_to_change_vel",
179+
"use_time_compensation_to_calc_distance",
180+
"p_coefficient_positive",
181+
"p_coefficient_negative",
182+
"d_coefficient_positive",
183+
"d_coefficient_negative",
184+
"object_polygon_length_margin",
185+
"object_polygon_width_margin",
186+
"valid_estimated_vel_diff_time",
187+
"valid_vel_que_time",
188+
"valid_estimated_vel_max",
189+
"valid_estimated_vel_min",
190+
"thresh_vel_to_stop",
191+
"lowpass_gain_of_upper_velocity",
192+
"use_rough_velocity_estimation",
193+
"rough_velocity_rate"
194+
],
195+
"additionalProperties": false
162196
},
163-
"required": [
164-
"use_object_to_estimate_vel",
165-
"use_pcl_to_estimate_vel",
166-
"consider_obj_velocity",
167-
"obstacle_velocity_thresh_to_start_acc",
168-
"obstacle_velocity_thresh_to_stop_acc",
169-
"emergency_stop_acceleration",
170-
"emergency_stop_idling_time",
171-
"min_dist_stop",
172-
"obstacle_emergency_stop_acceleration",
173-
"max_standard_acceleration",
174-
"min_standard_acceleration",
175-
"standard_idling_time",
176-
"min_dist_standard",
177-
"obstacle_min_standard_acceleration",
178-
"margin_rate_to_change_vel",
179-
"use_time_compensation_to_calc_distance",
180-
"p_coefficient_positive",
181-
"p_coefficient_negative",
182-
"d_coefficient_positive",
183-
"d_coefficient_negative",
184-
"object_polygon_length_margin",
185-
"object_polygon_width_margin",
186-
"valid_estimated_vel_diff_time",
187-
"valid_vel_que_time",
188-
"valid_estimated_vel_max",
189-
"valid_estimated_vel_min",
190-
"thresh_vel_to_stop",
191-
"lowpass_gain_of_upper_velocity",
192-
"use_rough_velocity_estimation",
193-
"rough_velocity_rate"
194-
],
197+
"required": ["adaptive_cruise_control"],
195198
"additionalProperties": false
196-
},
197-
"required" : ["adaptive_cruise_control"],
198-
"additionalProperties": false
199199
}
200200
}
201201
},

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