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feat(run_out_module): new params for run out, add ego cut lane (autowarefoundation#935)
* new params for run out Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * rename param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update description Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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  • autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner

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autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml

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detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
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use_partition_lanelet: true # [-] whether to use partition lanelet map data
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suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
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use_ego_cut_line: true # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
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specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates
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stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
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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
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deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles
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detection_distance: 45.0 # [m] ahead distance from ego to detect the obstacles
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detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time
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min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision
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ego_cut_line_length: 3.0 # The width of the ego's cut line
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# Parameter to create abstracted dynamic obstacles
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dynamic_obstacle:

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