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feat(obstacle_cruise_planner): yield function for ocp (#6242)
* WIP make ego yield to cut in vehicles
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* param name change
Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
* add params
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* refactor
Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
* fix bug for distance comparison
Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
* implement a collision time check for yield candidates
Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
* deleting comments
Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
* comment out prints for test
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* delete comments, use param
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* Add param to set moving obstacle speed threshold
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* WIP check for cars going opposite direction
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* check opposite line driving
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* update documentation
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* update README
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* set default false
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* refactor
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* refactor isFrontObstacle
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* make const
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
Copy file name to clipboardexpand all lines: planning/obstacle_cruise_planner/README.md
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@@ -108,6 +108,20 @@ The obstacles meeting the following condition are determined as obstacles for cr
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|`behavior_determination.cruise.outside_obstacle.obstacle_velocity_threshold`| double | maximum obstacle velocity for cruise obstacle outside the trajectory |
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|`behavior_determination.cruise.outside_obstacle.ego_obstacle_overlap_time_threshold`| double | maximum overlap time of the collision between the ego and obstacle |
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##### Yield for vehicles that might cut in into the ego's lane
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It is also possible to yield (cruise) behind vehicles in neighbor lanes if said vehicles might cut in the ego vehicle's current lane.
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The obstacles meeting the following condition are determined as obstacles for yielding (cruising).
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- The object type is for cruising according to `common.cruise_obstacle_type.*` and it is moving with a speed greater than `behavior_determination.cruise.yield.stopped_obstacle_velocity_threshold`.
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- The object is not crossing the ego's trajectory (\*1).
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- There is another object of type `common.cruise_obstacle_type.*` stopped in front of the moving obstacle.
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- The lateral distance (using the ego's trajectory as reference) between both obstacles is less than `behavior_determination.cruise.yield.max_lat_dist_between_obstacles`
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- Both obstacles, moving and stopped, are within `behavior_determination.cruise.yield.lat_distance_threshold` and `behavior_determination.cruise.yield.lat_distance_threshold` + `behavior_determination.cruise.yield.max_lat_dist_between_obstacles` lateral distance from the ego's trajectory respectively.
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If the above conditions are met, the ego vehicle will cruise behind the moving obstacle, yielding to it so it can cut in into the ego's lane to avoid the stopped obstacle.
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#### Determine stop vehicles
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Among obstacles which are not for cruising, the obstacles meeting the following condition are determined as obstacles for stopping.
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