From 4dc8c06b6eef3e1cd425bdb21d2ce0a52ddef464 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 20 Jun 2024 17:43:08 +0900 Subject: [PATCH] feat(static_obstacle_avoidance)!: add param to select path generation method (#1036) feat(static_obstacle_avoidance): add param to select path generation method Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 21 +++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 24e88c8ed6c1f..dd2e13892dacc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -5,10 +5,6 @@ resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER resample_interval_for_output: 4.0 # [m] FOR DEVELOPER - # avoidance module common setting - enable_bound_clipping: false - disable_path_update: false - # drivable area setting use_adjacent_lane: true use_opposite_lane: true @@ -284,6 +280,19 @@ max_acceleration: 0.5 # [m/ss] min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] + # path generation method. select "shift_line_base" or "optimization_base" or "both". + # "shift_line_base" : Create avoidance path based on shift line. + # User can control avoidance maneuver execution via RTC. + # However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver). + # "optimization_base": This module selects avoidance target object + # and bpp module clips drivable area based on avoidance target object polygon shape. + # But this module doesn't modify the path shape. + # On the other hand, autoware_path_optimizer module optimizes path shape instead of this module + # so that the path can be within drivable area. This method is able to deal with complex avoidance scenario. + # However, user can't control avoidance manuever execution. + # "both" : Use both method. + path_generation_method: "shift_line_base" + shift_line_pipeline: trim: quantize_size: 0.1 @@ -293,8 +302,8 @@ # for debug debug: - enable_other_objects_marker: false - enable_other_objects_info: false + enable_other_objects_marker: true + enable_other_objects_info: true enable_detection_area_marker: false enable_drivable_bound_marker: false enable_safety_check_marker: false