feat(freespace_planning_algorithm): update freespace planner params (#1080)

* update freespace planner params

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* update goal planner params

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* update start planner params

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* rename parameter

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

* change parameter value

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

---------

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

Author: mkquda

autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml

@@ -7,7 +7,7 @@
     activate_by_scenario: False
     grid_min_value: 0.0
     grid_max_value: 1.0
-    grid_resolution: 0.2
+    grid_resolution: 0.3
     grid_length_x: 70.0
     grid_length_y: 70.0
     grid_position_x: 0.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml

@@ -91,25 +91,30 @@
           velocity: 1.0
           vehicle_shape_margin: 1.0
           time_limit: 3000.0
-          minimum_turning_radius: 5.0
-          maximum_turning_radius: 5.0
-          turning_radius_size: 1
+          max_turning_ratio: 0.5
+          turning_steps: 1
           # search configs
           search_configs:
-            theta_size: 144
+            theta_size: 120
             angle_goal_range: 6.0
-            curve_weight: 1.2
-            reverse_weight: 1.0
             lateral_goal_range: 0.5
             longitudinal_goal_range: 2.0
+            curve_weight: 0.5
+            reverse_weight: 1.0
+            direction_change_weight: 1.5
           # costmap configs
           costmap_configs:
             obstacle_threshold: 30
           # -- A* search Configurations --
           astar:
+            search_method: "forward"  # options: forward, backward
             only_behind_solutions: false
-            use_back: false
-            distance_heuristic_weight: 1.0
+            use_back: true
+            adapt_expansion_distance: true
+            expansion_distance: 0.5
+            distance_heuristic_weight: 2.0
+            smoothness_weight: 0.5
+            obstacle_distance_weight: 1.75
           # -- RRT* search Configurations --
           rrtstar:
             enable_update: true

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

@@ -62,25 +62,30 @@
         velocity: 1.0
         vehicle_shape_margin: 1.0
         time_limit: 3000.0
-        minimum_turning_radius: 5.0
-        maximum_turning_radius: 5.0
-        turning_radius_size: 1
+        max_turning_ratio: 0.7
+        turning_steps: 1
         # search configs
         search_configs:
-          theta_size: 144
+          theta_size: 120
           angle_goal_range: 6.0
-          curve_weight: 1.2
-          reverse_weight: 1.0
           lateral_goal_range: 0.5
           longitudinal_goal_range: 2.0
+          curve_weight: 0.5
+          reverse_weight: 1.0
+          direction_change_weight: 1.5
         # costmap configs
         costmap_configs:
           obstacle_threshold: 30
         # -- A* search Configurations --
         astar:
+          search_method: "forward"  # options: forward, backward
           only_behind_solutions: false
-          use_back: false
-          distance_heuristic_weight: 1.0
+          use_back: true
+          adapt_expansion_distance: true
+          expansion_distance: 0.5
+          distance_heuristic_weight: 2.0
+          smoothness_weight: 0.5
+          obstacle_distance_weight: 1.75
         # -- RRT* search Configurations --
         rrtstar:
           enable_update: true

autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml

@@ -16,27 +16,29 @@
     # base configs
     time_limit: 30000.0
     # robot configs # TODO replace by vehicle_info
-    robot_length: 4.5
-    robot_width: 1.75
-    robot_base2back: 1.0
-    minimum_turning_radius: 9.0
-    maximum_turning_radius: 9.0
-    turning_radius_size: 1
+    max_turning_ratio: 0.5 # ratio of actual turning limit of vehicle
+    turning_steps: 1
     # search configs
-    theta_size: 144
+    theta_size: 120
     angle_goal_range: 6.0
-    curve_weight: 1.2
-    reverse_weight: 2.0
     lateral_goal_range: 0.5
     longitudinal_goal_range: 2.0
+    curve_weight: 0.5
+    reverse_weight: 1.0
+    direction_change_weight: 1.5
     # costmap configs
     obstacle_threshold: 100
 
     # -- A* search Configurations --
     astar:
+      search_method: "forward"  # options: forward, backward
       only_behind_solutions: false
       use_back: true
-      distance_heuristic_weight: 1.0
+      adapt_expansion_distance: true
+      expansion_distance: 0.5
+      distance_heuristic_weight: 2.0
+      smoothness_weight: 0.5
+      obstacle_distance_weight: 1.75
 
     # -- RRT* search Configurations --
     rrtstar: