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feat(goal_planner): safer safety checker #701

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merged 2 commits into from
Nov 26, 2023
Merged

feat(goal_planner): safer safety checker #701

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6ed2334
feat(goal_planner): safer safety checker
kosuke55 Nov 21, 2023
34c1bc1
disable safety check
kosuke55 Nov 26, 2023
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8 changes: 7 additions & 1 deletion ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@
safety_check_time_horizon: 5.0
safety_check_time_resolution: 1.0
# detection range
object_check_forward_distance: 10.0
object_check_forward_distance: 100.0
object_check_backward_distance: 100.0
ignore_object_velocity_threshold: 1.0
# ObjectTypesToCheck
Expand Down Expand Up @@ -160,6 +160,7 @@
safety_check_params:
# safety check configuration
enable_safety_check: false # Don't set to true if auto_mode is enabled
method: "integral_predicted_polygon"
keep_unsafe_time: 3.0
# collision check parameters
check_all_predicted_path: true
Expand All @@ -170,6 +171,11 @@
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
integral_predicted_polygon_params:
forward_margin: 1.0
backward_margin: 1.0
lat_margin: 1.0
time_horizon: 10.0
# hysteresis factor to expand/shrink polygon with the value
hysteresis_factor_expand_rate: 1.0
# temporary
Expand Down
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