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refactor(autoware_obstacle_stop_planner): rework parameters (autowarefoundation#7795)
Signed-off-by: Ariiees <yuxw@udel.edu>
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‎planning/autoware_obstacle_stop_planner/README.md

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### Common Parameter
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{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/common.schema.json") }}
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| Parameter | Type | Description |
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| -------------------------------------- | ------ | ----------------------------------------------------------------------------------------- |
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| `enable_slow_down` | bool | enable slow down planner [-] |
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### Parameters
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{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json") }}
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#### Stop position
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| Parameter | Type | Description |
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### Parameters
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{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json") }}
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#### Slow down section
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| Parameter | Type | Description |

‎planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameter for adaptive cruise control",
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"type": "object",
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"definitions": {
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"adaptive_cruise_control": {
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"type": "object",
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"properties": {
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"adaptive_cruise_control": {
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"type": "object",
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"properties": {
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"use_object_to_estimate_vel": {
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"type": "boolean",
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"description": "use tracking objects for estimating object velocity or not",
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"default": "true"
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},
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"use_pcl_to_estimate_vel": {
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"type": "boolean",
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"description": "use pcl for estimating object velocity or not",
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"default": "true"
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},
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"consider_obj_velocity": {
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"type": "boolean",
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"description": "consider forward vehicle velocity to ACC or not",
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"default": "true"
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},
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"obstacle_velocity_thresh_to_start_acc": {
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"type": "number",
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"description": "start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]",
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"default": "1.5"
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},
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"obstacle_velocity_thresh_to_stop_acc": {
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"type": "number",
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"description": "stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]",
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"default": "1.0"
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},
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"emergency_stop_acceleration": {
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"type": "number",
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"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
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"default": "-5.0"
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},
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"emergency_stop_idling_time": {
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"type": "number",
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"description": "supposed idling time to start emergency stop [s]",
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"default": "0.5"
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},
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"min_dist_stop": {
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"type": "number",
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"description": "minimum distance of emergency stop [m]",
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"default": "4.0"
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},
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"obstacle_emergency_stop_acceleration": {
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"type": "number",
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"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
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"default": "-5.0"
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},
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"max_standard_acceleration": {
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"type": "number",
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"description": "supposed maximum acceleration in active cruise control [m/ss]",
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"default": "0.5"
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},
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"min_standard_acceleration": {
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"type": "number",
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"description": "supposed minimum acceleration (deceleration) in active cruise control",
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"default": "-1.0"
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},
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"standard_idling_time": {
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"type": "number",
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"description": "supposed idling time to react object in active cruise control [s]",
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"default": "0.5"
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},
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"min_dist_standard": {
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"type": "number",
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"description": "minimum distance in active cruise control [m]",
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"default": "4.0"
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},
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"obstacle_min_standard_acceleration": {
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"type": "number",
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"description": "supposed minimum acceleration of forward obstacle [m/ss]",
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"default": "-1.5"
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},
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"margin_rate_to_change_vel": {
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"type": "number",
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"description": "margin to insert upper velocity [-]",
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"default": "0.3"
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},
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"use_time_compensation_to_calc_distance": {
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"type": "boolean",
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"description": "use time-compensation to calculate distance to forward vehicle",
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"default": "true"
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},
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"p_coefficient_positive": {
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"type": "number",
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"description": "coefficient P in PID control (used when target dist -current_dist >=0) [-]",
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"default": "0.1"
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},
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"p_coefficient_negative": {
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"type": "number",
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"description": "coefficient P in PID control (used when target dist -current_dist <0) [-]",
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"default": "0.3"
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},
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"d_coefficient_positive": {
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"type": "number",
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"description": "coefficient D in PID control (used when delta_dist >=0) [-]",
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"default": "0.0"
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},
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"d_coefficient_negative": {
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"type": "number",
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"description": "coefficient D in PID control (used when delta_dist <0) [-]",
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"default": "0.2"
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},
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"object_polygon_length_margin": {
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"type": "number",
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"description": "The distance to extend the polygon length the object in pointcloud-object matching [m]",
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"default": "2.0"
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},
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"object_polygon_width_margin": {
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"type": "number",
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"description": "The distance to extend the polygon width the object in pointcloud-object matching [m]",
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"default": "0.5"
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},
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"valid_estimated_vel_diff_time": {
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"type": "number",
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"description": "Maximum time difference treated as continuous points in speed estimation using a point cloud [s]",
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"default": "1.0"
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},
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"valid_vel_que_time": {
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"type": "number",
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"description": "Time width of information used for speed estimation in speed estimation using a point cloud [s]",
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"default": "0.5"
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},
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"valid_estimated_vel_max": {
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"type": "number",
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"description": "Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
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"default": "20.0"
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},
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"valid_estimated_vel_min": {
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"type": "number",
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"description": "Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
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"default": "-20.0"
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},
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"thresh_vel_to_stop": {
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"type": "number",
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"description": "Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s]",
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"default": "1.5"
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},
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"lowpass_gain_of_upper_velocity": {
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"type": "number",
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"description": "Lowpass-gain of upper velocity",
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"default": "0.75"
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},
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"use_rough_velocity_estimation": {
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"type": "boolean",
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"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. ####)",
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"default": "false"
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},
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"rough_velocity_rate": {
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"type": "number",
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"description": "In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value",
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"default": "0.9"
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}
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},
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"required": [
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"use_object_to_estimate_vel",
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"use_pcl_to_estimate_vel",
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"consider_obj_velocity",
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"obstacle_velocity_thresh_to_start_acc",
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"obstacle_velocity_thresh_to_stop_acc",
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"emergency_stop_acceleration",
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"emergency_stop_idling_time",
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"min_dist_stop",
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"obstacle_emergency_stop_acceleration",
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"max_standard_acceleration",
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"min_standard_acceleration",
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"standard_idling_time",
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"min_dist_standard",
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"obstacle_min_standard_acceleration",
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"margin_rate_to_change_vel",
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"use_time_compensation_to_calc_distance",
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"p_coefficient_positive",
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"p_coefficient_negative",
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"d_coefficient_positive",
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"d_coefficient_negative",
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"object_polygon_length_margin",
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"object_polygon_width_margin",
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"valid_estimated_vel_diff_time",
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"valid_vel_que_time",
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"valid_estimated_vel_max",
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"valid_estimated_vel_min",
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"thresh_vel_to_stop",
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"lowpass_gain_of_upper_velocity",
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"use_rough_velocity_estimation",
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"rough_velocity_rate"
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],
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"additionalProperties": false
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}
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},
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"required": ["adaptive_cruise_control"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/adaptive_cruise_control"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

‎planning/autoware_obstacle_stop_planner/schema/common.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameter for common in autoware_obstacle_stop_planner",
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"type": "object",
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"definitions": {
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"common": {
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"type": "object",
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"properties": {
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"max_vel": {
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"type": "number",
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"description": "max velocity limit [m/s]",
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"default": "11.1"
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},
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"normal": {
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"type": "object",
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"properties": {
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"min_acc": {
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"type": "number",
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"description": "min deceleration [m/ss]",
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"default": "-0.5"
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},
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"max_acc": {
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"type": "number",
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"description": "max acceleration [m/ss]",
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"default": "1.0"
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},
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"min_jerk": {
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"type": "number",
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"description": "min jerk [m/sss]",
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"default": "-0.5"
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},
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"max_jerk": {
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"type": "number",
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"description": "max jerk [m/sss]",
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"default": "1.0"
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}
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},
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"required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
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},
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"limit": {
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"type": "object",
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"properties": {
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"min_acc": {
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"type": "number",
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"description": "min deceleration limit [m/ss]",
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"default": "-2.5"
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},
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"max_acc": {
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"type": "number",
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"description": "max acceleration [m/ss]",
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"default": "1.0"
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},
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"min_jerk": {
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"type": "number",
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"description": "min jerk [m/sss]",
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"default": "-1.5"
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},
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"max_jerk": {
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"type": "number",
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"description": "max jerk [m/sss]",
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"default": "1.5"
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}
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},
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"required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
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}
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},
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"required": ["max_vel", "normal", "limit"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/common"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

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