update avoidance config

Signed-off-by: mitsudome-r <[email protected]>
tier4 · Feb 28, 2025 · bc740e6 · bc740e6
1 parent 93874a0
commit bc740e6
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Showing 2 changed files with 18 additions and 18 deletions.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -122,8 +122,8 @@
           motorcycle: true                              # [-]
           pedestrian: true                              # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
-        object_check_return_pose_distance: 20.0         # [m]
+        object_check_goal_distance: 2.0                # [m]
+        object_check_return_pose_distance: 2.0         # [m]
         # lost object compensation
         max_compensation_time: 2.0
 
@@ -150,9 +150,9 @@
           # "auto"   : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically.
           # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode.
           # "ignore" : never avoid it.
-          policy: "manual"                              # [-]
+          policy: "auto"                              # [-]
           condition:
-            th_stopped_time: 3.0                        # [s]
+            th_stopped_time: 1.0                        # [s]
             th_moving_distance: 1.0                     # [m]
           ignore_area:
             traffic_light:
@@ -243,7 +243,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 3.0                                 # [m]
+            buffer: 1.0                                 # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]
@@ -329,9 +329,9 @@
       debug:
         enable_other_objects_marker: true
         enable_other_objects_info: true
-        enable_detection_area_marker: false
-        enable_drivable_bound_marker: false
-        enable_safety_check_marker: false
-        enable_shift_line_marker: false
-        enable_lane_marker: false
-        enable_misc_marker: false
+        enable_detection_area_marker: true
+        enable_drivable_bound_marker: true
+        enable_safety_check_marker: true
+        enable_shift_line_marker: true
+        enable_lane_marker: true
+        enable_misc_marker: true
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,19 +12,19 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 4.0 # This is also used as a stop margin [m]
-      terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
+      safe_distance_margin : 1.0 # This is also used as a stop margin [m]
+      terminal_safe_distance_margin : 1.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
       slow_down_min_acc: -1.0         # slow down min deceleration [m/ss]
       slow_down_min_jerk: -1.0        # slow down min jerk [m/sss]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
-      min_behavior_stop_margin: 3.0 # [m]
+      min_behavior_stop_margin: 1.0 # [m]
       stop_on_curve:
         enable_approaching: false
-        additional_safe_distance_margin: 3.0 # [m]
+        additional_safe_distance_margin: 1.0 # [m]
         min_safe_distance_margin: 3.0 # [m]
       suppress_sudden_obstacle_stop: true
 
@@ -83,7 +83,7 @@
         pointcloud: true
 
     behavior_determination:
-      pointcloud_search_radius: 5.0
+      pointcloud_search_radius: 2.0
       pointcloud_voxel_grid_x: 0.05
       pointcloud_voxel_grid_y: 0.05
       pointcloud_voxel_grid_z: 100000.0
@@ -108,8 +108,8 @@
         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
+        max_lat_margin: 0.2 # lateral margin between the obstacles and ego's footprint
+        max_lat_margin_against_unknown: 0.2 # 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]