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feat(start/goal_planner): remove unused param and update time horizon for goal planner's safety check (autowarefoundation#6353)
* remove unused parameter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update safety check time horizon Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update readme Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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‎planning/behavior_path_goal_planner_module/config/goal_planner.param.yaml

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@@ -127,7 +127,7 @@
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delay_until_departure: 1.0
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# For target object filtering
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target_filtering:
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safety_check_time_horizon: 5.0
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safety_check_time_horizon: 10.0
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safety_check_time_resolution: 1.0
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# detection range
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object_check_forward_distance: 10.0
@@ -163,7 +163,6 @@
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method: "integral_predicted_polygon"
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keep_unsafe_time: 3.0
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# collision check parameters
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check_all_predicted_path: true
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publish_debug_marker: false
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rss_params:
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rear_vehicle_reaction_time: 2.0

‎planning/behavior_path_start_planner_module/README.md

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@@ -149,31 +149,31 @@ Parameters under `path_safety_check.ego_predicted_path` specify the ego vehicle'
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Parameters under `target_filtering` are related to filtering target objects for safety check.
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| Name | Unit | Type | Description | Default value |
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| :---------------------------------------------- | :---- | :----- | :------------------------------------------------- | :------------ |
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| safety_check_time_horizon | [s] | double | Time horizon for safety check | 5.0 |
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| safety_check_time_resolution | [s] | double | Time resolution for safety check | 1.0 |
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| object_check_forward_distance | [m] | double | Forward distance for object detection | 10.0 |
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| object_check_backward_distance | [m] | double | Backward distance for object detection | 100.0 |
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| ignore_object_velocity_threshold | [m/s] | double | Velocity threshold below which objects are ignored | 1.0 |
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| object_types_to_check.check_car | - | bool | Flag to check cars | true |
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| object_types_to_check.check_truck | - | bool | Flag to check trucks | true |
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| object_types_to_check.check_bus | - | bool | Flag to check buses | true |
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| object_types_to_check.check_trailer | - | bool | Flag to check trailers | true |
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| object_types_to_check.check_bicycle | - | bool | Flag to check bicycles | true |
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| object_types_to_check.check_motorcycle | - | bool | Flag to check motorcycles | true |
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| object_types_to_check.check_pedestrian | - | bool | Flag to check pedestrians | true |
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| object_types_to_check.check_unknown | - | bool | Flag to check unknown object types | false |
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| object_lane_configuration.check_current_lane | - | bool | Flag to check the current lane | true |
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| object_lane_configuration.check_right_side_lane | - | bool | Flag to check the right side lane | true |
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| object_lane_configuration.check_left_side_lane | - | bool | Flag to check the left side lane | true |
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| object_lane_configuration.check_shoulder_lane | - | bool | Flag to check the shoulder lane | true |
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| object_lane_configuration.check_other_lane | - | bool | Flag to check other lanes | false |
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| include_opposite_lane | - | bool | Flag to include the opposite lane in check | false |
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| invert_opposite_lane | - | bool | Flag to invert the opposite lane check | false |
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| check_all_predicted_path | - | bool | Flag to check all predicted paths | true |
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| use_all_predicted_path | - | bool | Flag to use all predicted paths | true |
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| use_predicted_path_outside_lanelet | - | bool | Flag to use predicted paths outside of lanelets | false |
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| Name | Unit | Type | Description | Default value |
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| :---------------------------------------------- | :---- | :----- | :----------------------------------------------------------------- | :------------ |
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| safety_check_time_horizon | [s] | double | Time horizon for predicted paths of the ego and dynamic objects | 5.0 |
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| safety_check_time_resolution | [s] | double | Time resolution for predicted paths of the ego and dynamic objects | 1.0 |
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| object_check_forward_distance | [m] | double | Forward distance for object detection | 10.0 |
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| object_check_backward_distance | [m] | double | Backward distance for object detection | 100.0 |
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| ignore_object_velocity_threshold | [m/s] | double | Velocity threshold below which objects are ignored | 1.0 |
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| object_types_to_check.check_car | - | bool | Flag to check cars | true |
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| object_types_to_check.check_truck | - | bool | Flag to check trucks | true |
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| object_types_to_check.check_bus | - | bool | Flag to check buses | true |
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| object_types_to_check.check_trailer | - | bool | Flag to check trailers | true |
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| object_types_to_check.check_bicycle | - | bool | Flag to check bicycles | true |
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| object_types_to_check.check_motorcycle | - | bool | Flag to check motorcycles | true |
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| object_types_to_check.check_pedestrian | - | bool | Flag to check pedestrians | true |
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| object_types_to_check.check_unknown | - | bool | Flag to check unknown object types | false |
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| object_lane_configuration.check_current_lane | - | bool | Flag to check the current lane | true |
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| object_lane_configuration.check_right_side_lane | - | bool | Flag to check the right side lane | true |
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| object_lane_configuration.check_left_side_lane | - | bool | Flag to check the left side lane | true |
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| object_lane_configuration.check_shoulder_lane | - | bool | Flag to check the shoulder lane | true |
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| object_lane_configuration.check_other_lane | - | bool | Flag to check other lanes | false |
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| include_opposite_lane | - | bool | Flag to include the opposite lane in check | false |
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| invert_opposite_lane | - | bool | Flag to invert the opposite lane check | false |
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| check_all_predicted_path | - | bool | Flag to check all predicted paths | true |
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| use_all_predicted_path | - | bool | Flag to use all predicted paths | true |
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| use_predicted_path_outside_lanelet | - | bool | Flag to use predicted paths outside of lanelets | false |
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### Safety Check Parameters
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‎planning/behavior_path_start_planner_module/config/start_planner.param.yaml

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@@ -125,7 +125,6 @@
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# safety check configuration
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enable_safety_check: true
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# collision check parameters
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check_all_predicted_path: true
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publish_debug_marker: false
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rss_params:
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rear_vehicle_reaction_time: 2.0

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