feat(goal_planner): introduce bezier based pullover for bus stop area

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jan 22, 2025 · 407d0a0 · 407d0a0
1 parent 11957fe
commit 407d0a0
Showing 1 changed file with 7 additions and 4 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -25,8 +25,8 @@
         high_curvature_threshold: 0.1
         bus_stop_area:
           use_bus_stop_area: false
-          goal_search_interval: 0.5
-          lateral_offset_interval: 0.25
+          goal_search_interval: 0.75
+          lateral_offset_interval: 0.3
 
       # occupancy grid map
       occupancy_grid:
@@ -51,7 +51,7 @@
 
       # pull over
       pull_over:
-        minimum_request_length: 0.0
+        minimum_request_length: 100.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0
@@ -68,7 +68,7 @@
           maximum_lateral_jerk: 2.0
           minimum_lateral_jerk: 0.5
           deceleration_interval: 15.0
-          after_shift_straight_distance: 1.0
+          after_shift_straight_distance: 1.5
 
         # parallel parking path
         parallel_parking:
@@ -130,6 +130,9 @@
             neighbor_radius: 8.0
             margin: 1.0
 
+        bezier_parking:
+          pull_over_azimuth_threshold: 0.5
+
       stop_condition:
         maximum_deceleration_for_stop: 1.0
         maximum_jerk_for_stop: 1.0