From 33f74694343dd93c601ce7b54ae3b05f586db5b0 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 21 Aug 2024 18:01:12 +0900 Subject: [PATCH] feat(static_obstacle_avoidance): add parameter for envelope polygon creation (#1130) * add threshold for eclipse long radius Signed-off-by: Go Sakayori * change parameter Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../static_obstacle_avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 4776884734..b592e1ad4d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -28,6 +28,7 @@ hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER + th_error_eclipse_long_radius : 0.6 # [m] truck: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -38,6 +39,7 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 bus: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -48,6 +50,7 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 trailer: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -58,6 +61,7 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 unknown: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -68,6 +72,7 @@ hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 + th_error_eclipse_long_radius : 0.6 bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -78,6 +83,7 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 @@ -88,6 +94,7 @@ hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -98,6 +105,7 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER