fix(static_obstacle_avoidance): lower hard margin for parked car to h…

…andle dense urban scenarios #1129 Signed-off-by: Ahmed Ebrahim <[email protected]> Signed-off-by: beyza <[email protected]>
autowarefoundation · Sep 18, 2024 · 32f1a4f · 32f1a4f
1 parent af49e5c
commit 32f1a4f
Showing 1 changed file with 15 additions and 15 deletions.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -23,9 +23,9 @@
  th_moving_time: 2.0 # [s]
  longitudinal_margin: 0.0 # [m]
  lateral_margin:
- soft_margin: 0.7 # [m]
+ soft_margin: 0.5 # [m]
  hard_margin: 0.2 # [m]
- hard_margin_for_parked_vehicle: 0.7 # [m]
+ hard_margin_for_parked_vehicle: 0.2 # [m]
  max_expand_ratio: 0.0 # [-] FOR DEVELOPER
  envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER
  th_error_eclipse_long_radius : 0.6 # [m]
@@ -34,9 +34,9 @@
  th_moving_time: 2.0
  longitudinal_margin: 0.0
  lateral_margin:
- soft_margin: 0.7
+ soft_margin: 0.5
  hard_margin: 0.2
- hard_margin_for_parked_vehicle: 0.7
+ hard_margin_for_parked_vehicle: 0.2
  max_expand_ratio: 0.0
  envelope_buffer_margin: 0.1
  th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
  th_moving_time: 2.0
  longitudinal_margin: 0.0
  lateral_margin:
- soft_margin: 0.7
+ soft_margin: 0.5
  hard_margin: 0.2
- hard_margin_for_parked_vehicle: 0.7
+ hard_margin_for_parked_vehicle: 0.2
  max_expand_ratio: 0.0
  envelope_buffer_margin: 0.1
  th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
  th_moving_time: 2.0
  longitudinal_margin: 0.0
  lateral_margin:
- soft_margin: 0.7
+ soft_margin: 0.5
  hard_margin: 0.2
- hard_margin_for_parked_vehicle: 0.7
+ hard_margin_for_parked_vehicle: 0.2
  max_expand_ratio: 0.0
  envelope_buffer_margin: 0.1
  th_error_eclipse_long_radius : 0.6
@@ -67,7 +67,7 @@
  th_moving_time: 1.0
  longitudinal_margin: 0.0
  lateral_margin:
- soft_margin: 0.7
+ soft_margin: 0.5
  hard_margin: -0.2
  hard_margin_for_parked_vehicle: -0.2
  max_expand_ratio: 0.0
@@ -80,7 +80,7 @@
  lateral_margin:
  soft_margin: 0.7
  hard_margin: 0.5
- hard_margin_for_parked_vehicle: 0.5
+ hard_margin_for_parked_vehicle: 0.2
  max_expand_ratio: 0.0
  envelope_buffer_margin: 0.5
  th_error_eclipse_long_radius : 0.6
@@ -89,9 +89,9 @@
  th_moving_time: 1.0
  longitudinal_margin: 1.0
  lateral_margin:
- soft_margin: 0.7
+ soft_margin: 0.5
  hard_margin: 0.3
- hard_margin_for_parked_vehicle: 0.3
+ hard_margin_for_parked_vehicle: 0.2
  max_expand_ratio: 0.0
  envelope_buffer_margin: 0.5
  th_error_eclipse_long_radius : 0.6
@@ -102,7 +102,7 @@
  lateral_margin:
  soft_margin: 0.7
  hard_margin: 0.5
- hard_margin_for_parked_vehicle: 0.5
+ hard_margin_for_parked_vehicle: 0.2
  max_expand_ratio: 0.0
  envelope_buffer_margin: 0.5
  th_error_eclipse_long_radius : 0.6
@@ -232,7 +232,7 @@
  # avoidance distance parameters
  longitudinal:
  min_prepare_time: 1.0 # [s]
- max_prepare_time: 3.0 # [s]
+ max_prepare_time: 2.0 # [s]
  min_prepare_distance: 1.0 # [m]
  min_slow_down_speed: 1.38 # [m/s]
  buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER
@@ -294,7 +294,7 @@
  velocity: [1.39, 4.17, 11.1] # [m/s]
  max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
  min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
- max_jerk_values: [1.0, 1.0, 1.0] # [m/sss]
+ max_jerk_values: [3.0, 3.0, 3.0] # [m/sss]
 
  # longitudinal constraints
  longitudinal: