feat(behavior_path_planner): curvature based drivable area expansion (a…

…utowarefoundation#491) * Modify parameters for curvature based dynamic drivable area expansion Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add parameter to enable/disable printing the runtime Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Add smoothing.extra_arc_length param Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
maxime-clem · Oct 16, 2023 · 328c5f4 · 328c5f4
1 parent 24a7ac9
commit 328c5f4
Showing 1 changed file with 12 additions and 21 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -5,16 +5,19 @@
     drivable_area_left_bound_offset: 0.0
     drivable_area_types_to_skip: [road_border]
 
-    # Dynamic expansion by projecting the ego footprint along the path
+    # Dynamic expansion by using the path curvature
     dynamic_expansion:
       enabled: true
-      debug_print: false  # if true, print some debug runtime measurements
+      print_runtime: false
+      max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
+      smoothing:
+        curvature_average_window: 3  # window size used for smoothing the curvatures using a moving window average
+        max_bound_rate: 1.0  # [m/m] maximum rate of change of the bound lateral distance over its arc length
+        extra_arc_length: 2.0  # [m] extra arc length where an expansion distance is initially applied
       ego:
-        extra_footprint_offset:
-          front: 1.5 # [m] extra length to add to the front of the ego footprint
-          rear: 0.5 # [m] extra length to add to the rear of the ego footprint
-          left: 0.5 # [m] extra length to add to the left of the ego footprint
-          right: 0.5 # [m] extra length to add to the rear of the ego footprint
+        extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
+        extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
+        extra_width: 1.0 # [m] extra length to add to the width
       dynamic_objects:
         avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
         extra_footprint_offset:
@@ -25,21 +28,9 @@
       path_preprocessing:
         max_arc_length: 80.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
-      expansion:
-        method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
-                         # 'lanelet': add lanelets overlapped by the ego footprints
-                         # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
-        max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
-        extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
+        reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
       avoid_linestring:
         types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
           - road_border
           - curbstone
-        distance: 0.3 # [m] distance to keep between the drivable area and the linestrings to avoid
-        compensate:
-          enable: false  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
-          extra_distance: 3.0 # [m] extra distance to add to the compensation
-      replan_checker:
-        enable: true  # if true, only recalculate the expanded drivable area when the path or its original drivable area change significantly
-                      # not compatible with dynamic_objects.avoid
-        max_deviation: 1.0  # [m] full replan is only done if the path changes by more than this distance
+        distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid