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lane_change.param.yaml
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/**:
ros__parameters:
lane_change:
backward_lane_length: 200.0 #[m]
prepare_duration: 4.0 # [s]
backward_length_buffer_for_end_of_lane: 3.0 # [m]
backward_length_buffer_for_blocking_object: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]
lane_changing_lateral_jerk: 0.5 # [m/s3]
minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
longitudinal_acceleration_sampling_num: 5
lateral_acceleration_sampling_num: 3
# side walk parked vehicle
object_check_min_road_shoulder_width: 0.5 # [m]
object_shiftable_ratio_threshold: 0.6
# turn signal
min_length_for_turn_signal_activation: 10.0 # [m]
length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)
# longitudinal acceleration
min_longitudinal_acc: -1.0
max_longitudinal_acc: 1.0
# safety check
safety_check:
allow_loose_check_for_cancel: true
execution:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
cancel:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
rear_vehicle_reaction_time: 1.5
rear_vehicle_safety_time_margin: 0.8
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 2.5
longitudinal_velocity_delta_time: 0.6
stuck:
expected_front_deceleration: -1.0
expected_rear_deceleration: -1.0
rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
# lane expansion for object filtering
lane_expansion:
left_offset: 0.0 # [m]
right_offset: 0.0 # [m]
# lateral acceleration map
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]
min_values: [0.15, 0.15, 0.15]
max_values: [0.5, 0.5, 0.5]
# target object
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: true
bicycle: true
motorcycle: true
pedestrian: true
# lane change regulations
regulation:
crosswalk: false
intersection: false
traffic_light: true
# ego vehicle stuck detection
stuck_detection:
velocity: 0.1 # [m/s]
stop_time: 3.0 # [s]
# collision check
enable_prepare_segment_collision_check: true
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
check_objects_on_current_lanes: true
check_objects_on_other_lanes: true
use_all_predicted_path: true
# lane change cancel
cancel:
enable_on_prepare_phase: true
enable_on_lane_changing_phase: true
delta_time: 1.0 # [s]
duration: 5.0 # [s]
max_lateral_jerk: 1000.0 # [m/s3]
overhang_tolerance: 0.0 # [m]
unsafe_hysteresis_threshold: 10 # [/]
finish_judge_lateral_threshold: 0.2 # [m]
# debug
publish_debug_marker: false