rename parameters and update drivable area design md

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
autowarefoundation · Mar 4, 2025 · ff2c2a3 · ff2c2a3
1 parent ef733b1
commit ff2c2a3
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Showing 4 changed files with 38 additions and 31 deletions.
diff --git a/...ior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml b/...ior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml
@@ -20,14 +20,14 @@
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
         extra_width: 1.0 # [m] extra length to add to the width
       object_exclusion:
-        exclude_static: false # if true, the drivable area is not expanded over static objects
+        exclude_static: true # if true, the drivable area is not expanded over static objects
         exclude_dynamic: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
-        stopped_object_velocity_threshold: 1.0 # [m/s] velocity threshold for static objects
-        extra_footprint_offset:
-          front: 0.5 # [m] extra length to add to the front of object footprint
-          rear: 0.5 # [m] extra length to add to the rear of object footprint
-          left: 0.5 # [m] extra length to add to the left of object footprint
-          right: 0.5 # [m] extra length to add to the rear of object footprint
+        th_stopped_object_velocity: 1.0 # [m/s] velocity threshold for static objects
+        safety_margin:
+          front: 0.75 # [m] margin to add to the front of object footprint
+          rear: 0.75 # [m] margin to add to the rear of object footprint
+          left: 0.75 # [m] margin to add to the left of object footprint
+          right: 0.75 # [m] margin to add to the rear of object footprint
       path_preprocessing:
         max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)

diff --git a/...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -826,16 +826,16 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam(
       parameters, DrivableAreaExpansionParameters::EGO_EXTRA_WIDTH,
       planner_data_->drivable_area_expansion_parameters.extra_width);
     update_param(
-      parameters, DrivableAreaExpansionParameters::OBJECTS_EXTRA_OFFSET_FRONT,
+      parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_FRONT,
       planner_data_->drivable_area_expansion_parameters.object_exclusion.front_offset);
     update_param(
-      parameters, DrivableAreaExpansionParameters::OBJECTS_EXTRA_OFFSET_REAR,
+      parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_REAR,
       planner_data_->drivable_area_expansion_parameters.object_exclusion.rear_offset);
     update_param(
-      parameters, DrivableAreaExpansionParameters::OBJECTS_EXTRA_OFFSET_LEFT,
+      parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_LEFT,
       planner_data_->drivable_area_expansion_parameters.object_exclusion.left_offset);
     update_param(
-      parameters, DrivableAreaExpansionParameters::OBJECTS_EXTRA_OFFSET_RIGHT,
+      parameters, DrivableAreaExpansionParameters::OBJECTS_SAFE_MARGIN_RIGHT,
       planner_data_->drivable_area_expansion_parameters.object_exclusion.right_offset);
     update_param(
       parameters, DrivableAreaExpansionParameters::STOPPED_OBJ_VEL_THRESH,

diff --git a/...behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md b/...behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md
@@ -43,11 +43,13 @@ Currently, when clipping left bound or right bound, it can clip the bound more t
 | ego.extra_wheel_base                         | [m]   | double       | extra ego wheelbase                                                                                     | 0.0                          |
 | ego.extra_front_overhang                     | [m]   | double       | extra ego overhang                                                                                      | 0.5                          |
 | ego.extra_width                              | [m]   | double       | extra ego width                                                                                         | 1.0                          |
-| dynamic_objects.avoid                        | [-]   | boolean      | if true, the drivable area is not expanded in the predicted path of dynamic objects                     | true                         |
-| dynamic_objects.extra_footprint_offset.front | [m]   | double       | extra length to add to the front of the ego footprint                                                   | 0.5                          |
-| dynamic_objects.extra_footprint_offset.rear  | [m]   | double       | extra length to add to the rear of the ego footprint                                                    | 0.5                          |
-| dynamic_objects.extra_footprint_offset.left  | [m]   | double       | extra length to add to the left of the ego footprint                                                    | 0.5                          |
-| dynamic_objects.extra_footprint_offset.right | [m]   | double       | extra length to add to the rear of the ego footprint                                                    | 0.5                          |
+| object_exclusion.exclude_static              | [-]   | boolean      | if true, the drivable area is not expanded over static objects                                          | true                         |
+| object_exclusion.exclude_dynamic             | [-]   | boolean      | if true, the drivable area is not expanded in the predicted path of dynamic objects                     | true                         |
+| object_exclusion.th_stopped_object_velocity  | [m/s] | double       | extra length to add to the front of the ego footprint                                                   | 0.5                          |
+| object_exclusion.safety_margin.front         | [m]   | double       | extra length to add to the front of the ego footprint                                                   | 0.5                          |
+| object_exclusion.safety_margin.rear          | [m]   | double       | extra length to add to the rear of the ego footprint                                                    | 0.5                          |
+| object_exclusion.safety_margin.left          | [m]   | double       | extra length to add to the left of the ego footprint                                                    | 0.5                          |
+| object_exclusion.safety_margin.right         | [m]   | double       | extra length to add to the rear of the ego footprint                                                    | 0.5                          |
 | path_preprocessing.max_arc_length            | [m]   | double       | maximum arc length along the path where the ego footprint is projected (0.0 means no limit)             | 100.0                        |
 | path_preprocessing.resample_interval         | [m]   | double       | fixed interval between resampled path points (0.0 means path points are directly used)                  | 2.0                          |
 | path_preprocessing.reuse_max_deviation       | [m]   | double       | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5                          |
@@ -133,9 +135,14 @@ This equation was derived from the work of [Lim, H., Kim, C., and Jo, A., "Model
 
 ![min width](../images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg)
 
-##### 3 Calculate maximum expansion distances of each bound point based on dynamic objects and linestring of the vector map (optional)
+##### 3 Calculate maximum expansion distances of each bound point based on detected objects and linestring of the vector map (optional)
+
+For each drivable area bound point, we calculate its maximum expansion distance as its distance to the closest "obstacle" which could be:
+
+1. Map linestring with type `avoid_linestrings.type`.
+2. Static object footprint (if `object_exclusion.exclude_static` is set to `true`).
+3. Dynamic object path footprint (if `object_exclusion.exclude_dynamic` is set to `true`).
 
-For each drivable area bound point, we calculate its maximum expansion distance as its distance to the closest "obstacle" (either a map linestring with type `avoid_linestrings.type`, or a dynamic object footprint if `dynamic_objects.avoid` is set to `true`).
 If `max_expansion_distance` is not `0.0`, it is use here if smaller than the distance to the closest obstacle.
 
 ![max distances](../images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg)

diff --git a/...nclude/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp b/...nclude/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp
@@ -33,16 +33,16 @@ struct DrivableAreaExpansionParameters
   static constexpr auto EGO_EXTRA_FRONT_OVERHANG = "dynamic_expansion.ego.extra_front_overhang";
   static constexpr auto EGO_EXTRA_WHEELBASE = "dynamic_expansion.ego.extra_wheelbase";
   static constexpr auto EGO_EXTRA_WIDTH = "dynamic_expansion.ego.extra_width";
-  static constexpr auto OBJECTS_EXTRA_OFFSET_FRONT =
-    "dynamic_expansion.object_exclusion.extra_footprint_offset.front";
-  static constexpr auto OBJECTS_EXTRA_OFFSET_REAR =
-    "dynamic_expansion.object_exclusion.extra_footprint_offset.rear";
-  static constexpr auto OBJECTS_EXTRA_OFFSET_LEFT =
-    "dynamic_expansion.object_exclusion.extra_footprint_offset.left";
-  static constexpr auto OBJECTS_EXTRA_OFFSET_RIGHT =
-    "dynamic_expansion.object_exclusion.extra_footprint_offset.right";
+  static constexpr auto OBJECTS_SAFE_MARGIN_FRONT =
+    "dynamic_expansion.object_exclusion.safety_margin.front";
+  static constexpr auto OBJECTS_SAFE_MARGIN_REAR =
+    "dynamic_expansion.object_exclusion.safety_margin.rear";
+  static constexpr auto OBJECTS_SAFE_MARGIN_LEFT =
+    "dynamic_expansion.object_exclusion.safety_margin.left";
+  static constexpr auto OBJECTS_SAFE_MARGIN_RIGHT =
+    "dynamic_expansion.object_exclusion.safety_margin.right";
   static constexpr auto STOPPED_OBJ_VEL_THRESH =
-    "dynamic_expansion.object_exclusion.stopped_object_velocity_threshold";
+    "dynamic_expansion.object_exclusion.th_stopped_object_velocity";
   static constexpr auto MAX_EXP_DIST_PARAM = "dynamic_expansion.max_expansion_distance";
   static constexpr auto RESAMPLE_INTERVAL_PARAM =
     "dynamic_expansion.path_preprocessing.resample_interval";
@@ -121,10 +121,10 @@ struct DrivableAreaExpansionParameters
     object_exclusion.exclude_static = node.declare_parameter<bool>(AVOID_STA_OBJECTS_PARAM);
     object_exclusion.exclude_dynamic = node.declare_parameter<bool>(AVOID_DYN_OBJECTS_PARAM);
     object_exclusion.stopped_obj_vel_th = node.declare_parameter<double>(STOPPED_OBJ_VEL_THRESH);
-    object_exclusion.front_offset = node.declare_parameter<double>(OBJECTS_EXTRA_OFFSET_FRONT);
-    object_exclusion.rear_offset = node.declare_parameter<double>(OBJECTS_EXTRA_OFFSET_REAR);
-    object_exclusion.left_offset = node.declare_parameter<double>(OBJECTS_EXTRA_OFFSET_LEFT);
-    object_exclusion.right_offset = node.declare_parameter<double>(OBJECTS_EXTRA_OFFSET_RIGHT);
+    object_exclusion.front_offset = node.declare_parameter<double>(OBJECTS_SAFE_MARGIN_FRONT);
+    object_exclusion.rear_offset = node.declare_parameter<double>(OBJECTS_SAFE_MARGIN_REAR);
+    object_exclusion.left_offset = node.declare_parameter<double>(OBJECTS_SAFE_MARGIN_LEFT);
+    object_exclusion.right_offset = node.declare_parameter<double>(OBJECTS_SAFE_MARGIN_RIGHT);
     avoid_linestring_types =
       node.declare_parameter<std::vector<std::string>>(AVOID_LINESTRING_TYPES_PARAM);
     avoid_linestring_dist = node.declare_parameter<double>(AVOID_LINESTRING_DIST_PARAM);