feat(avoidance): avoidance tuning for v2.3.2 (autowarefoundation#659)

Tuning experiment of avoidance at Shiojiri
maxime-clem · May 28, 2024 · 293bdd8 · 293bdd8
1 parent e2a61bc
commit 293bdd8
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -34,7 +34,7 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          avoid_margin_lateral: 1.0                    # [m]
+          avoid_margin_lateral: 0.5                    # [m]
           safety_buffer_lateral: 0.1                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: false  # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
@@ -45,7 +45,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.5
           safety_buffer_lateral: 0.4
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
@@ -56,7 +56,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.5
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
@@ -67,7 +67,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.5
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
@@ -216,9 +216,9 @@
         # lateral constraints
         lateral:
           velocity: [1.0, 1.38, 11.1]                   # [m/s]
-          max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
+          max_accel_values: [0.2, 0.2, 0.2]             # [m/ss]
           min_jerk_values: [0.1, 0.1, 0.2]              # [m/sss]
-          max_jerk_values: [0.2, 0.2, 1.0]              # [m/sss]
+          max_jerk_values: [0.2, 0.2, 0.8]              # [m/sss]
 
         # longitudinal constraints
         longitudinal: