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feat(safety_check): add option to use polygon along path in safety check #6336

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merged 4 commits into from
Feb 16, 2024
+106 −4
Merged

feat(safety_check): add option to use polygon along path in safety check #6336

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15b10b3
feat(safety_check): add new function to create polygon along path
satoshi-ota Feb 6, 2024
10a68ec
feat(avoidance): use free steer policy for safety check
satoshi-ota Feb 6, 2024
c42fa54
fix(safety_check): fix polygon edge
satoshi-ota Feb 15, 2024
d025269
fix(safety_check): fix param name
satoshi-ota Feb 16, 2024
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feat(avoidance): use free steer policy for safety check 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
satoshi-ota committed Feb 15, 2024
commit 10a68ec897a479888855f69e392d2592a2de1627
1 change: 1 addition & 0 deletions planning/behavior_path_avoidance_module/config/avoidance.param.yaml
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Original file line number Diff line number Diff line change
@@ -187,6 +187,7 @@
time_horizon_for_rear_object: 10.0 # [s]
delay_until_departure: 0.0 # [s]
# rss parameters
steering: "free" # [-] select "fixed" or "free"
expected_front_deceleration: -1.0 # [m/ss]
expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
1 change: 1 addition & 0 deletions ...ehavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp
View file
Original file line number Diff line number Diff line change
@@ -223,6 +223,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
// safety check rss params
{
const std::string ns = "avoidance.safety_check.";
p.rss_params.steering = getOrDeclareParameter<std::string>(*node, ns + "steering");
p.rss_params.longitudinal_distance_min_threshold =
getOrDeclareParameter<double>(*node, ns + "longitudinal_distance_min_threshold");
p.rss_params.longitudinal_velocity_delta_time =