Skip to content

Commit

Permalink
refactor(autoware_obstacle_stop_planner): rework parameters (autoware…
Browse files Browse the repository at this point in the history 
…foundation#7795)

Signed-off-by: Ariiees <[email protected]>
  • Loading branch information
@Ariiees @kyoichi-sugahara
Ariiees authored and kyoichi-sugahara committed Aug 27, 2024
1 parent be454ee commit 3b7fd58
Show file tree
Hide file tree
Showing 4 changed files with 629 additions and 0 deletions.
6 changes: 6 additions & 0 deletions planning/autoware_obstacle_stop_planner/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@

### Common Parameter

{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/common.schema.json") }}

| Parameter | Type | Description |
| -------------------------------------- | ------ | ----------------------------------------------------------------------------------------- |
| `enable_slow_down` | bool | enable slow down planner [-] |
Expand Down Expand Up @@ -103,6 +105,8 @@ stopped due to other factors.

### Parameters

{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json") }}

#### Stop position

| Parameter | Type | Description |
Expand Down Expand Up @@ -186,6 +190,8 @@ down section.

### Parameters

{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json") }}

#### Slow down section

| Parameter | Type | Description |
Expand Down
216 changes: 216 additions & 0 deletions planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,216 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameter for adaptive cruise control",
"type": "object",
"definitions": {
"adaptive_cruise_control": {
"type": "object",
"properties": {
"adaptive_cruise_control": {
"type": "object",
"properties": {
"use_object_to_estimate_vel": {
"type": "boolean",
"description": "use tracking objects for estimating object velocity or not",
"default": "true"
},
"use_pcl_to_estimate_vel": {
"type": "boolean",
"description": "use pcl for estimating object velocity or not",
"default": "true"
},
"consider_obj_velocity": {
"type": "boolean",
"description": "consider forward vehicle velocity to ACC or not",
"default": "true"
},
"obstacle_velocity_thresh_to_start_acc": {
"type": "number",
"description": "start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]",
"default": "1.5"
},
"obstacle_velocity_thresh_to_stop_acc": {
"type": "number",
"description": "stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]",
"default": "1.0"
},
"emergency_stop_acceleration": {
"type": "number",
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
"default": "-5.0"
},
"emergency_stop_idling_time": {
"type": "number",
"description": "supposed idling time to start emergency stop [s]",
"default": "0.5"
},
"min_dist_stop": {
"type": "number",
"description": "minimum distance of emergency stop [m]",
"default": "4.0"
},
"obstacle_emergency_stop_acceleration": {
"type": "number",
"description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]",
"default": "-5.0"
},
"max_standard_acceleration": {
"type": "number",
"description": "supposed maximum acceleration in active cruise control [m/ss]",
"default": "0.5"
},
"min_standard_acceleration": {
"type": "number",
"description": "supposed minimum acceleration (deceleration) in active cruise control",
"default": "-1.0"
},
"standard_idling_time": {
"type": "number",
"description": "supposed idling time to react object in active cruise control [s]",
"default": "0.5"
},
"min_dist_standard": {
"type": "number",
"description": "minimum distance in active cruise control [m]",
"default": "4.0"
},
"obstacle_min_standard_acceleration": {
"type": "number",
"description": "supposed minimum acceleration of forward obstacle [m/ss]",
"default": "-1.5"
},
"margin_rate_to_change_vel": {
"type": "number",
"description": "margin to insert upper velocity [-]",
"default": "0.3"
},
"use_time_compensation_to_calc_distance": {
"type": "boolean",
"description": "use time-compensation to calculate distance to forward vehicle",
"default": "true"
},
"p_coefficient_positive": {
"type": "number",
"description": "coefficient P in PID control (used when target dist -current_dist >=0) [-]",
"default": "0.1"
},
"p_coefficient_negative": {
"type": "number",
"description": "coefficient P in PID control (used when target dist -current_dist <0) [-]",
"default": "0.3"
},
"d_coefficient_positive": {
"type": "number",
"description": "coefficient D in PID control (used when delta_dist >=0) [-]",
"default": "0.0"
},
"d_coefficient_negative": {
"type": "number",
"description": "coefficient D in PID control (used when delta_dist <0) [-]",
"default": "0.2"
},
"object_polygon_length_margin": {
"type": "number",
"description": "The distance to extend the polygon length the object in pointcloud-object matching [m]",
"default": "2.0"
},
"object_polygon_width_margin": {
"type": "number",
"description": "The distance to extend the polygon width the object in pointcloud-object matching [m]",
"default": "0.5"
},
"valid_estimated_vel_diff_time": {
"type": "number",
"description": "Maximum time difference treated as continuous points in speed estimation using a point cloud [s]",
"default": "1.0"
},
"valid_vel_que_time": {
"type": "number",
"description": "Time width of information used for speed estimation in speed estimation using a point cloud [s]",
"default": "0.5"
},
"valid_estimated_vel_max": {
"type": "number",
"description": "Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
"default": "20.0"
},
"valid_estimated_vel_min": {
"type": "number",
"description": "Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s]",
"default": "-20.0"
},
"thresh_vel_to_stop": {
"type": "number",
"description": "Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s]",
"default": "1.5"
},
"lowpass_gain_of_upper_velocity": {
"type": "number",
"description": "Lowpass-gain of upper velocity",
"default": "0.75"
},
"use_rough_velocity_estimation": {
"type": "boolean",
"description": "Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####)",
"default": "false"
},
"rough_velocity_rate": {
"type": "number",
"description": "In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value",
"default": "0.9"
}
},
"required": [
"use_object_to_estimate_vel",
"use_pcl_to_estimate_vel",
"consider_obj_velocity",
"obstacle_velocity_thresh_to_start_acc",
"obstacle_velocity_thresh_to_stop_acc",
"emergency_stop_acceleration",
"emergency_stop_idling_time",
"min_dist_stop",
"obstacle_emergency_stop_acceleration",
"max_standard_acceleration",
"min_standard_acceleration",
"standard_idling_time",
"min_dist_standard",
"obstacle_min_standard_acceleration",
"margin_rate_to_change_vel",
"use_time_compensation_to_calc_distance",
"p_coefficient_positive",
"p_coefficient_negative",
"d_coefficient_positive",
"d_coefficient_negative",
"object_polygon_length_margin",
"object_polygon_width_margin",
"valid_estimated_vel_diff_time",
"valid_vel_que_time",
"valid_estimated_vel_max",
"valid_estimated_vel_min",
"thresh_vel_to_stop",
"lowpass_gain_of_upper_velocity",
"use_rough_velocity_estimation",
"rough_velocity_rate"
],
"additionalProperties": false
}
},
"required": ["adaptive_cruise_control"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/adaptive_cruise_control"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
85 changes: 85 additions & 0 deletions planning/autoware_obstacle_stop_planner/schema/common.schema.json
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,85 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameter for common in autoware_obstacle_stop_planner",
"type": "object",
"definitions": {
"common": {
"type": "object",
"properties": {
"max_vel": {
"type": "number",
"description": "max velocity limit [m/s]",
"default": "11.1"
},
"normal": {
"type": "object",
"properties": {
"min_acc": {
"type": "number",
"description": "min deceleration [m/ss]",
"default": "-0.5"
},
"max_acc": {
"type": "number",
"description": "max acceleration [m/ss]",
"default": "1.0"
},
"min_jerk": {
"type": "number",
"description": "min jerk [m/sss]",
"default": "-0.5"
},
"max_jerk": {
"type": "number",
"description": "max jerk [m/sss]",
"default": "1.0"
}
},
"required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
},
"limit": {
"type": "object",
"properties": {
"min_acc": {
"type": "number",
"description": "min deceleration limit [m/ss]",
"default": "-2.5"
},
"max_acc": {
"type": "number",
"description": "max acceleration [m/ss]",
"default": "1.0"
},
"min_jerk": {
"type": "number",
"description": "min jerk [m/sss]",
"default": "-1.5"
},
"max_jerk": {
"type": "number",
"description": "max jerk [m/sss]",
"default": "1.5"
}
},
"required": ["min_acc", "max_acc", "min_jerk", "max_jerk"]
}
},
"required": ["max_vel", "normal", "limit"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/common"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
Loading

0 comments on commit 3b7fd58

Please sign in to comment.