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feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out #1142

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Oct 8, 2024
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feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out #1142

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47 changes: 33 additions & 14 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,26 @@
suppress_sudden_obstacle_stop: false

stop_obstacle_type:
unknown: true
car: true
truck: true
bus: true
trailer: true
motorcycle: true
bicycle: true
pedestrian: true
pointcloud: false
inside:
unknown: true
car: true
truck: true
bus: true
trailer: true
motorcycle: true
bicycle: true
pedestrian: true

outside:
unknown: false
car: true
truck: true
bus: true
trailer: true
motorcycle: true
bicycle: true
pedestrian: true

cruise_obstacle_type:
inside:
Expand Down Expand Up @@ -93,21 +104,29 @@

# if crossing vehicle is determined as target obstacles or not
crossing_obstacle:
obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
obstacle_traj_angle_threshold : 0.523599 # [rad] = 30 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop

stop:
max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint
max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s]
outside_obstacle:
max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s]
num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss]
bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss]
crossing_obstacle:
collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]

cruise:
max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
outside_obstacle:
obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s]
max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s]
max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego
yield:
enable_yield: true
lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
Expand Down
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