|
29 | 29 | car:
|
30 | 30 | execute_num: 1 # [-]
|
31 | 31 | moving_speed_threshold: 1.0 # [m/s]
|
32 |
| - moving_time_threshold: 1.0 # [s] |
| 32 | + moving_time_threshold: 2.0 # [s] |
33 | 33 | max_expand_ratio: 0.0 # [-]
|
34 |
| - envelope_buffer_margin: 0.3 # [m] |
35 |
| - avoid_margin_lateral: 1.0 # [m] |
36 |
| - safety_buffer_lateral: 0.7 # [m] |
| 34 | + envelope_buffer_margin: 0.5 # [m] |
| 35 | + avoid_margin_lateral: 0.7 # [m] |
| 36 | + safety_buffer_lateral: 0.3 # [m] |
37 | 37 | safety_buffer_longitudinal: 0.0 # [m]
|
38 | 38 | use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
|
39 | 39 | truck:
|
40 | 40 | execute_num: 1
|
41 |
| - moving_speed_threshold: 1.0 # 3.6km/h |
42 |
| - moving_time_threshold: 1.0 |
| 41 | + moving_speed_threshold: 2.0 # 7.2km/h |
| 42 | + moving_time_threshold: 2.0 |
43 | 43 | max_expand_ratio: 0.0
|
44 |
| - envelope_buffer_margin: 0.3 |
45 |
| - avoid_margin_lateral: 1.0 |
46 |
| - safety_buffer_lateral: 0.7 |
| 44 | + envelope_buffer_margin: 0.5 |
| 45 | + avoid_margin_lateral: 0.9 |
| 46 | + safety_buffer_lateral: 0.1 |
47 | 47 | safety_buffer_longitudinal: 0.0
|
48 | 48 | use_conservative_buffer_longitudinal: true
|
49 | 49 | bus:
|
50 | 50 | execute_num: 1
|
51 |
| - moving_speed_threshold: 1.0 # 3.6km/h |
52 |
| - moving_time_threshold: 1.0 |
| 51 | + moving_speed_threshold: 2.0 # 7.2km/h |
| 52 | + moving_time_threshold: 2.0 |
53 | 53 | max_expand_ratio: 0.0
|
54 |
| - envelope_buffer_margin: 0.3 |
55 |
| - avoid_margin_lateral: 1.0 |
56 |
| - safety_buffer_lateral: 0.7 |
| 54 | + envelope_buffer_margin: 0.5 |
| 55 | + avoid_margin_lateral: 0.9 |
| 56 | + safety_buffer_lateral: 0.1 |
57 | 57 | safety_buffer_longitudinal: 0.0
|
58 | 58 | use_conservative_buffer_longitudinal: true
|
59 | 59 | trailer:
|
60 | 60 | execute_num: 1
|
61 |
| - moving_speed_threshold: 1.0 # 3.6km/h |
62 |
| - moving_time_threshold: 1.0 |
| 61 | + moving_speed_threshold: 2.0 # 7.2km/h |
| 62 | + moving_time_threshold: 2.0 |
63 | 63 | max_expand_ratio: 0.0
|
64 |
| - envelope_buffer_margin: 0.3 |
65 |
| - avoid_margin_lateral: 1.0 |
66 |
| - safety_buffer_lateral: 0.7 |
| 64 | + envelope_buffer_margin: 0.5 |
| 65 | + avoid_margin_lateral: 0.9 |
| 66 | + safety_buffer_lateral: 0.1 |
67 | 67 | safety_buffer_longitudinal: 0.0
|
68 | 68 | use_conservative_buffer_longitudinal: true
|
69 | 69 | unknown:
|
70 | 70 | execute_num: 1
|
71 | 71 | moving_speed_threshold: 0.28 # 1.0km/h
|
72 | 72 | moving_time_threshold: 1.0
|
73 | 73 | max_expand_ratio: 0.0
|
74 |
| - envelope_buffer_margin: 0.3 |
75 |
| - avoid_margin_lateral: 1.0 |
76 |
| - safety_buffer_lateral: 0.7 |
| 74 | + envelope_buffer_margin: 0.1 |
| 75 | + avoid_margin_lateral: 0.7 |
| 76 | + safety_buffer_lateral: -0.2 |
77 | 77 | safety_buffer_longitudinal: 0.0
|
78 | 78 | use_conservative_buffer_longitudinal: true
|
79 | 79 | bicycle:
|
80 | 80 | execute_num: 1
|
81 | 81 | moving_speed_threshold: 0.28 # 1.0km/h
|
82 | 82 | moving_time_threshold: 1.0
|
83 | 83 | max_expand_ratio: 0.0
|
84 |
| - envelope_buffer_margin: 0.8 |
85 |
| - avoid_margin_lateral: 1.0 |
86 |
| - safety_buffer_lateral: 1.0 |
| 84 | + envelope_buffer_margin: 0.5 |
| 85 | + avoid_margin_lateral: 0.7 |
| 86 | + safety_buffer_lateral: 0.5 |
87 | 87 | safety_buffer_longitudinal: 1.0
|
88 | 88 | use_conservative_buffer_longitudinal: true
|
89 | 89 | motorcycle:
|
90 | 90 | execute_num: 1
|
91 | 91 | moving_speed_threshold: 1.0 # 3.6km/h
|
92 | 92 | moving_time_threshold: 1.0
|
93 | 93 | max_expand_ratio: 0.0
|
94 |
| - envelope_buffer_margin: 0.8 |
95 |
| - avoid_margin_lateral: 1.0 |
96 |
| - safety_buffer_lateral: 1.0 |
| 94 | + envelope_buffer_margin: 0.5 |
| 95 | + avoid_margin_lateral: 0.7 |
| 96 | + safety_buffer_lateral: 0.3 |
97 | 97 | safety_buffer_longitudinal: 1.0
|
98 | 98 | use_conservative_buffer_longitudinal: true
|
99 | 99 | pedestrian:
|
100 | 100 | execute_num: 1
|
101 | 101 | moving_speed_threshold: 0.28 # 1.0km/h
|
102 | 102 | moving_time_threshold: 1.0
|
103 | 103 | max_expand_ratio: 0.0
|
104 |
| - envelope_buffer_margin: 0.8 |
105 |
| - avoid_margin_lateral: 1.0 |
106 |
| - safety_buffer_lateral: 1.0 |
| 104 | + envelope_buffer_margin: 0.5 |
| 105 | + avoid_margin_lateral: 0.7 |
| 106 | + safety_buffer_lateral: 0.5 |
107 | 107 | safety_buffer_longitudinal: 1.0
|
108 | 108 | use_conservative_buffer_longitudinal: true
|
109 | 109 | lower_distance_for_polygon_expansion: 30.0 # [m]
|
|
139 | 139 |
|
140 | 140 | # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
|
141 | 141 | force_avoidance:
|
142 |
| - enable: false # [-] |
143 |
| - time_threshold: 1.0 # [s] |
| 142 | + enable: true # [-] |
| 143 | + time_threshold: 3.0 # [s] |
| 144 | + distance_threshold: 1.0 # [m] |
144 | 145 | ignore_area:
|
145 | 146 | traffic_light:
|
146 | 147 | front_distance: 100.0 # [m]
|
|
188 | 189 | expected_rear_deceleration: -1.0 # [m/ss]
|
189 | 190 | rear_vehicle_reaction_time: 2.0 # [s]
|
190 | 191 | rear_vehicle_safety_time_margin: 1.0 # [s]
|
191 |
| - lateral_distance_max_threshold: 0.75 # [m] |
| 192 | + lateral_distance_max_threshold: 2.0 # [m] |
192 | 193 | longitudinal_distance_min_threshold: 3.0 # [m]
|
193 | 194 | longitudinal_velocity_delta_time: 0.8 # [s]
|
194 | 195 |
|
|
216 | 217 | return_dead_line:
|
217 | 218 | goal:
|
218 | 219 | enable: true # [-]
|
219 |
| - buffer: 25.0 # [m] |
| 220 | + buffer: 30.0 # [m] |
220 | 221 | traffic_light:
|
221 | 222 | enable: true # [-]
|
222 | 223 | buffer: 3.0 # [m]
|
|
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