obstacle_cruise_planner.param.yaml

/**:
  ros__parameters:
    common:
      planning_algorithm: "pid_base" # currently supported algorithm is "pid_base"

      enable_debug_info: false
      enable_calculation_time_info: false

      enable_slow_down_planning: true

      # longitudinal info
      idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
      min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
      min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
      terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
      hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
      hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
      slow_down_min_acc: -1.0         # slow down min deceleration [m/ss]
      slow_down_min_jerk: -1.0        # slow down min jerk [m/sss]

      nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
      nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
      min_behavior_stop_margin: 3.0 # [m]
      stop_on_curve:
        enable_approaching: true # false
        additional_safe_distance_margin: 0.0 # [m]
        min_safe_distance_margin: 3.0 # [m]
      suppress_sudden_obstacle_stop: true

      stop_obstacle_type:
        unknown: true
        car: true
        truck: true
        bus: true
        trailer: true
        motorcycle: true
        bicycle: true
        pedestrian: true
        pointcloud: false

      cruise_obstacle_type:
        inside:
          unknown: true
          car: true
          truck: true
          bus: true
          trailer: true
          motorcycle: true
          bicycle: true
          pedestrian: false

        outside:
          unknown: false
          car: true
          truck: true
          bus: true
          trailer: true
          motorcycle: true
          bicycle: false
          pedestrian: false

      slow_down_obstacle_type:
        unknown: false
        car: true
        truck: true
        bus: true
        trailer: true
        motorcycle: true
        bicycle: true
        pedestrian: true
        pointcloud: false

    behavior_determination:
      pointcloud_search_radius: 5.0
      pointcloud_voxel_grid_x: 0.05
      pointcloud_voxel_grid_y: 0.05
      pointcloud_voxel_grid_z: 100000.0
      pointcloud_cluster_tolerance: 1.0
      pointcloud_min_cluster_size: 1
      pointcloud_max_cluster_size: 100000

      decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking

      prediction_resampling_time_interval: 0.1
      prediction_resampling_time_horizon: 10.0

      stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle

      # hysteresis for cruise and stop
      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]

      # if crossing vehicle is determined as target obstacles or not
      crossing_obstacle:
        obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s]
        obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop

      stop:
        max_lat_margin: 0.3 # lateral margin between the obstacles except for unknown and ego's footprint
        max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint
        crossing_obstacle:
          collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]

      cruise:
        max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width
        outside_obstacle:
          obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
          ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
          max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
        yield:
          enable_yield: false
          lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
          max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
          max_obstacles_collision_time: 10.0 # how far the blocking obstacle
          stopped_obstacle_velocity_threshold: 0.5
      slow_down:
        max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
        lat_hysteresis_margin: 0.2

        successive_num_to_entry_slow_down_condition: 5
        successive_num_to_exit_slow_down_condition: 5

      # consider the current ego pose (it is not the nearest pose on the reference trajectory)
      # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
      # The both errors decrease with constant rates against the time.
      consider_current_pose:
        enable_to_consider_current_pose: false
        time_to_convergence: 1.5 #[s]

    cruise:
      pid_based_planner:
        use_velocity_limit_based_planner: true
        error_function_type: quadratic # choose from linear, quadratic

        velocity_limit_based_planner:
            # PID gains to keep safe distance with the front vehicle
            kp: 10.0
            ki: 0.0
            kd: 2.0

            output_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
            vel_to_acc_weight: 12.0 # target acceleration is calculated by (target_velocity - current_velocity) * vel_to_acc_weight [-]

            enable_jerk_limit_to_output_acc: false

            disable_target_acceleration: true

        velocity_insertion_based_planner:
            kp_acc: 6.0
            ki_acc: 0.0
            kd_acc: 2.0

            kp_jerk: 20.0
            ki_jerk: 0.0
            kd_jerk: 0.0

            output_acc_ratio_during_accel: 0.6 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]
            output_jerk_ratio_during_accel: 1.0 # target acceleration is multiplied with this value while ego accelerates to catch up the front vehicle [-]

            enable_jerk_limit_to_output_acc: true

        min_accel_during_cruise: -2.0 # minimum acceleration during cruise to slow down [m/ss]
        min_cruise_target_vel: 0.0 # minimum target velocity during slow down [m/s]
        time_to_evaluate_rss: 0.0

        lpf_normalized_error_cruise_dist_gain: 0.2

      optimization_based_planner:
        dense_resampling_time_interval: 0.2
        sparse_resampling_time_interval: 2.0
        dense_time_horizon: 5.0
        max_time_horizon: 25.0
        velocity_margin: 0.2 #[m/s]

        # Parameters for safe distance
        t_dangerous: 0.5

        # For initial Motion
        replan_vel_deviation: 5.0         # velocity deviation to replan initial velocity [m/s]
        engage_velocity: 0.25              # engage velocity threshold [m/s] (if the trajectory velocity is higher than this value, use this velocity for engage vehicle speed)
        engage_acceleration: 0.1           # engage acceleration [m/ss] (use this acceleration when engagement)
        engage_exit_ratio: 0.5             # exit engage sequence to normal velocity planning when the velocity exceeds engage_exit_ratio x engage_velocity.
        stop_dist_to_prohibit_engage: 0.5  # if the stop point is in this distance, the speed is set to 0 not to move the vehicle [m]

        # Weights for optimization
        max_s_weight: 100.0
        max_v_weight: 1.0
        over_s_safety_weight:  1000000.0
        over_s_ideal_weight:  50.0
        over_v_weight:  500000.0
        over_a_weight:  5000.0
        over_j_weight:  10000.0

    slow_down:
      # parameters to calculate slow down velocity by linear interpolation
      labels:
        - "default"
        - "pedestrian"
      default:
        moving:
          min_lat_margin: 0.8
          max_lat_margin: 1.3
          min_ego_velocity: 0.5
          max_ego_velocity: 1.5
        static:
          min_lat_margin: 0.2
          max_lat_margin: 1.0
          min_ego_velocity: 4.0
          max_ego_velocity: 8.0
      pedestrian:
        moving:
          min_lat_margin: 0.8
          max_lat_margin: 1.3
          min_ego_velocity: 0.5
          max_ego_velocity: 0.8
        static:
          min_lat_margin: 0.8
          max_lat_margin: 1.3
          min_ego_velocity: 1.0
          max_ego_velocity: 2.0

      moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving"
      moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold

      time_margin_on_target_velocity: 1.5 # [s]

      lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity
      lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path
      lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start
    stop:
      type_specified_params:
        labels: # For the listed types, the node try to read the following type specified values
          - "default"
          - "unknown"
        # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined.
          # limit_min_acc: common_param.yaml/limit.min_acc
        unknown:
          limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred.
          sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop".
          sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop".
          abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit.