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feat(autoware_planning_validator): add collision checking for predicted objects #1206

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feat(autoware_planning_validator): add collision checking for predicted objects #1206

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15 changes: 15 additions & 0 deletions ...config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml
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Expand Up @@ -37,3 +37,18 @@
# Setting it to 0 means an error will occur if even slightly exceeding the end of the path,
# therefore, a certain margin is necessary.
forward_trajectory_length_margin: 2.0

# Threshold to filter out objects that are far from the trajectory.
# Only objects within this distance [m] from their nearest point on the trajectory
# are considered for collision checking to improve computational efficiency.
trajectory_to_object_distance_threshold: 30.0

# Threshold to filter out objects that are far from the ego vehicle.
# Only objects within this distance [m] from the current ego position
# are considered for collision checking to improve computational efficiency.
ego_to_object_distance_threshold: 50.0

# Time tolerance threshold [s] for collision detection between ego and object trajectories.
# Collision check is performed only when the time difference between ego and object
# predicted positions is within this threshold to detect temporal-spatial intersections.
time_tolerance_threshold: 0.1
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