|
3 | 3 | run_out: |
4 | 4 | detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points |
5 | 5 | use_partition_lanelet: true # [-] whether to use partition lanelet map data |
6 | | - suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet: |
7 | | - specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates |
| 6 | + suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet |
| 7 | + specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates |
8 | 8 | stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin |
9 | 9 | passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin |
10 | 10 | deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles |
11 | 11 | detection_distance: 45.0 # [m] ahead distance from ego to detect the obstacles |
12 | 12 | detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time |
13 | 13 | min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision |
14 | 14 |
|
15 | | - detection_area: |
16 | | - margin_behind: 0.5 # [m] ahead margin for detection area length |
17 | | - margin_ahead: 1.0 # [m] behind margin for detection area length |
18 | | - |
19 | | - # This area uses points not filtered by vector map to ensure safety |
20 | | - mandatory_area: |
21 | | - decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area |
22 | | - |
23 | | - # parameter to create abstracted dynamic obstacles |
| 15 | + # Parameter to create abstracted dynamic obstacles |
24 | 16 | dynamic_obstacle: |
25 | 17 | use_mandatory_area: false # [-] whether to use mandatory detection area |
26 | 18 | assume_fixed_velocity: |
|
34 | 26 | time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path |
35 | 27 | points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method |
36 | 28 |
|
37 | | - # approach if ego has stopped in the front of the obstacle for a certain amount of time |
38 | | - approaching: |
39 | | - enable: false |
40 | | - margin: 0.0 # [m] distance on how close ego approaches the obstacle |
41 | | - limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping |
42 | | - |
43 | | - # parameters for the change of state. used only when approaching is enabled |
44 | | - state: |
45 | | - stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping |
46 | | - stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state |
47 | | - disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value |
48 | | - keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition |
49 | | - |
50 | | - # parameter to avoid sudden stopping |
| 29 | + # Parameter to prevent sudden stopping. |
| 30 | + # If the deceleration jerk and acceleration exceed this value upon inserting a stop point, |
| 31 | + # the deceleration will be moderated to stay under this value. |
51 | 32 | slow_down_limit: |
52 | | - enable: true |
| 33 | + enable: false |
53 | 34 | max_jerk: -0.7 # [m/s^3] minimum jerk deceleration for safe brake. |
54 | 35 | max_acc : -2.0 # [m/s^2] minimum accel deceleration for safe brake. |
55 | 36 |
|
56 | | - # prevent abrupt stops caused by false positives in perception |
| 37 | + # Parameter to prevent abrupt stops caused by false positives in perception |
57 | 38 | ignore_momentary_detection: |
58 | 39 | enable: true |
59 | 40 | time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration |
| 41 | + |
| 42 | + # Typically used when the "detection_method" is set to ObjectWithoutPath or Points |
| 43 | + # Approach if the ego has stopped in front of the obstacle for a certain period |
| 44 | + # This avoids the issue of the ego continuously stopping in front of the obstacle |
| 45 | + approaching: |
| 46 | + enable: false |
| 47 | + margin: 0.0 # [m] distance on how close ego approaches the obstacle |
| 48 | + limit_vel_kmph: 3.0 # [km/h] limit velocity for approaching after stopping |
| 49 | + # Parameters for state change when "approaching" is enabled |
| 50 | + state: |
| 51 | + stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping |
| 52 | + stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state |
| 53 | + disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value |
| 54 | + keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition |
| 55 | + |
| 56 | + # Only used when "detection_method" is set to Points |
| 57 | + # Filters points by the detection area polygon to reduce computational cost |
| 58 | + # The detection area is calculated based on the current velocity and acceleration and deceleration jerk constraints |
| 59 | + detection_area: |
| 60 | + margin_behind: 0.5 # [m] ahead margin for detection area length |
| 61 | + margin_ahead: 1.0 # [m] behind margin for detection area length |
| 62 | + |
| 63 | + # Only used when "detection_method" is set to Points |
| 64 | + # Points in this area are detected even if it is in the no obstacle segmentation area |
| 65 | + # The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints |
| 66 | + mandatory_area: |
| 67 | + decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area |
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