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n2.json
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n2.json
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'{
"CarParams": {
"brake_deadzone": 15.5,
"car_config": {
"apoa_config": {
"apoa_target_pose_params": {
"parallel_params": {
"front_parkout": {
"lat_max": 2.5,
"lat_min": 0.7,
"lat_target": 0.95,
"lon_max": 5.0,
"lon_min": -1.5,
"lon_target": 2.5,
"theta_tolerence": 2.0
},
"rear_parkout": {
"lat_max": 2.5,
"lat_min": 0.7,
"lat_target": 0.95,
"lon_max": 5.0,
"lon_min": -1.5,
"lon_target": 2.5,
"theta_tolerence": 2.0
}
},
"perpendicular_oblique_params": {
"front_left": {
"lat_max": 3.5,
"lat_min": 0.7,
"lat_target": 3.5,
"lon_max": 5.5,
"lon_min": -1.25,
"lon_target": 2.75,
"theta_tolerence": 2.0
},
"front_right": {
"lat_max": 2.5,
"lat_min": 0.7,
"lat_target": 1.35,
"lon_max": 5.5,
"lon_min": -1.25,
"lon_target": 2.75,
"theta_tolerence": 2.0
},
"front_straight": {
"lat_max": 0.1,
"lat_min": 0.1,
"lat_target": 0.0,
"lon_max": 5.0,
"lon_min": 0.8,
"lon_target": 5.0,
"theta_tolerence": 2.5
},
"rear_left": {
"lat_max": 3.5,
"lat_min": 0.7,
"lat_target": 3.5,
"lon_max": 5.5,
"lon_min": -1.25,
"lon_target": 2.75,
"theta_tolerence": 2.0
},
"rear_right": {
"lat_max": 2.5,
"lat_min": 0.7,
"lat_target": 1.35,
"lon_max": 5.5,
"lon_min": -1.25,
"lon_target": 2.75,
"theta_tolerence": 2.0
},
"rear_straight": {
"lat_max": 0.1,
"lat_min": 0.1,
"lat_target": 0.0,
"lon_max": 5.0,
"lon_min": 0.8,
"lon_target": 5.0,
"theta_tolerence": 2.5
}
}
},
"has_turn_round_direct": false,
"is_direct_dynamic_person_ignore": false,
"is_harz_direct_limit": false,
"is_parallel_direct_limit": false,
"is_parallel_front_obs_limit": false,
"is_perpendicular_oblique_direct_limit": false,
"is_perpendicular_oblique_rear_direct_limit": false,
"is_refactor_rear_left_and_right": false,
"is_slot_length_or_width_limit": false,
"is_tmas_unique_recommend_direct_logic_used": false,
"parallel_front_obs_dis": 4.5,
"parallel_len_limit": 1.1,
"parkin_data_folder": "/opt/m/logs/",
"parkout_direct_release_channel_width_limit": 1.0,
"parkout_end_pose_dis_to_front_obs": 2.5,
"parkout_end_pose_dis_to_side_obs": 0.5,
"perpendicular_oblique_width_limit": 0.4,
"support_perpendicular": true,
"turn_round_blocked_try_times": 13,
"turn_round_zigzag_limit": 11,
"use_last_parkin_data": false,
"use_legacy_parkout": false
},
"car_only_config": {
"back_light_height": 0.3,
"back_light_len": 0.4,
"body_tire_offset": 0.03,
"body_tire_offset_space_slot": 0.03,
"front_edge_to_mirror": 1.9,
"min_radius": 5.014,
"mirror_length": 0.23,
"rear_axle_offset_ratio": 0.0
},
"common_config": {
"debug_num": 32,
"drive_style": 0,
"min_block_len": 0.1,
"min_finish_len": 0.1,
"slot_release_frequency": 5,
"sop_openspace_planner_no_steer_change_gear_switch": false,
"test_config": 1.0,
"use_new_fs_block": false,
"use_sop_dlp_openspace_planner": false,
"use_sop_openspace_planner": true,
"use_sop_openspace_planner_parallel": true,
"zigzag_limit": 11
},
"ending_check_config": {
"angle_ending_thres": 0.03,
"angle_ending_thres_after_adjust": 0.06,
"angle_ending_thres_parallel": 0.03,
"lat_ending_thres": 0.14,
"lat_ending_thres_parallel": 0.8,
"lon_ending_thres": 0.7,
"lon_ending_thres_parallel": 0.7,
"max_center_offset_parallel": 0.4,
"max_center_offset_parallel_wheel_stop": 0.4,
"oneside_dist_wheel_to_psd_line": 0.15,
"strict_lon_ending_thres": 0.2,
"twosides_dist_diff_wheel_to_line": 0.1
},
"expand_param_config": {
"apa_lat_adjust": -0.02,
"apa_lon_adjust": -0.05,
"apoa_lat_adjust": -0.02,
"apoa_lon_adjust": -0.05,
"vehicle_type": "LACAR"
},
"fault_injector_config": {
"start_time": 30.0
},
"kino_config": {
"apa_oblique": {
"vel_backward": 0.65,
"vel_forward": 0.8
},
"apa_parallel": {
"vel_backward": 0.4,
"vel_forward": 0.5
},
"apa_vertical": {
"vel_backward": 0.65,
"vel_forward": 0.8
},
"apoa_oblique": {
"vel_backward": 0.4,
"vel_forward": 0.6
},
"apoa_parallel": {
"vel_backward": 0.4,
"vel_forward": 0.6
},
"apoa_vertical": {
"vel_backward": 0.4,
"vel_forward": 0.6
},
"rpa": {
"vel_backward": 0.35,
"vel_forward": 0.35
}
},
"lat_realtime_config": {
"disable_thresh_dist_to_end": 1.0,
"parkin_parallel_enable": false,
"parkin_vertical_enable": false,
"parkout_parallel_enable": false,
"parkout_vertical_enable": false,
"prefetch_distance": 2.0,
"prefetch_next_stage_distance_th": 0.5,
"refresh_distance": 0.5
},
"lon_config": {
"a_w": 5.0,
"acc": 2.0,
"consider_obstacle_max_s": 1.5,
"control_take_over_acc": 0.2,
"control_take_over_remain_s": 0.6,
"control_take_over_speed": 0.3,
"curvature_change_threshold": 0.9,
"curvature_limit_v": 0.3,
"dec": 0.5,
"forbid_acc_max_s": 2.5,
"is_catapult_in_apoa_mode": true,
"is_catapult_launch": true,
"is_use_brake_stop": true,
"j_lo": -1.0,
"j_up": 2.0,
"j_w": 5.0,
"keep_people_dynamic": false,
"limit_dec": 0.4,
"max_dis_for_adjust_target": 0.3,
"max_v_approaching_wheel_stop": 0.3,
"min_duration_filter_time": 1.5,
"min_velocity": 0.2,
"obstacle_consider_extend_length": 1.5,
"obstacle_consider_max": 0.55,
"obstacle_consider_min": 0.3,
"obstacle_consider_min_v": 0.3,
"planning_deceleration": 0.2596,
"planning_deceleration_last": 0.2,
"rate": 10.0,
"s_ref_w": 15.0,
"s_w": 0.0,
"traj_end_speed_limit_s": 0.1,
"use_control_static": false,
"use_margin_speed": false,
"use_osqp_speed": false,
"use_sop_algorithm": false,
"use_stationary_static": false,
"use_vehicle_hold_static": false,
"v_ref_w": 15.0,
"v_w": 0.0,
"wheel_approaching_dis": 0.6,
"window_s_size": 1.8
},
"parallel_config": {
"check_empty_length": 3.5,
"is_min_r_priority": false,
"line_slot_open_direct_offset": 0.05,
"out_step_lat": 0.05,
"out_step_lon": 0.25,
"rear_axis_to_stopper_offset": 0.2,
"space_slot_open_direct_offset": 0.05,
"support_wheel_stop": true,
"use_out_step": true,
"wheel_last_remain_straight": 0.3,
"wheel_stop_lat": 0.0,
"wheel_stop_lon": 0.25
},
"parkin_decider_config": {
"curve_join_block_duration": 1.0,
"curve_join_duration": 0.05,
"deviated_max_dist_allowd": 0.15,
"dist_to_stop_curvejoin": 3.0,
"has_moved_min_velocity": 0.07,
"inflation_radius": 0.12,
"mpc_traj_block_duration": 0.5,
"narrow_channel_width": 5.0,
"parallel_in_channel_angle": 1.309,
"pause_when_blocked_by_barrier": false,
"planning_run_duration": 8.0,
"smaller_lon_inflation_narrow_perpendicular_slot": 0.25
},
"rpa_config": {
"aggressive_mode_lat_inflation": -0.15,
"is_vehicle_lock_control": false,
"rpa_straight_distance": 5.0
},
"slot_config": {
"default_max_rule_slot_width": 3.1,
"extra_max_rule_slot_width_parallel": 3.0,
"outside_Tline_default_height": -0.5
},
"speed_decider_config": {
"collision_dynamic_threshold": 0.5,
"decision_time_gap": 0.1,
"hard_brake_dis": 0.8,
"high_speed": 1.388,
"is_need_speed_for_dynamic_obs": true,
"large_threshold": 5.0,
"max_break_acc": 0.3,
"max_decider_distance": 10.0,
"min_colli_remain_s": 0.5,
"min_collision_t": 2.0
},
"sv_config": {
"in_slot_coeff": 0.5,
"large_curv_coeff": 0.625,
"min_radius_coeff": 0.9,
"no_acc_limit": false,
"not_use_comfortable_min_s": 0.3,
"out_slot_coeff": 1.0,
"second_stage_length": 1.0,
"second_stage_v": 0.4167,
"use_sv_speed_generator": false,
"use_two_stage": false
},
"target_pose_config": {
"bottom_obs_distance_config": {
"line": {
"step": {
"oblique": 0.3,
"perpendicular": -0.3
},
"wall": {
"oblique": 0.3,
"perpendicular": 0.3
}
},
"space": {
"step": {
"oblique": 0.3,
"perpendicular": 0.3
},
"wall": {
"oblique": 0.3,
"perpendicular": 0.3
}
}
},
"ego_slot_heading_rad_limit": 0.174,
"ego_slot_iou_limit": 0.75,
"is_narrow_slot_abandon_use_car_width": true,
"narrow_slot_abandon_car_width_buffer": 0.3,
"not_pass_bottomline": true,
"oneside_dist_mirror_to_obstacle_car": 0.275,
"oneside_dist_mirror_to_pillar": 0.225,
"oneside_dist_wheel_to_step": 0.25,
"oneside_narrowest_width_advanced_abandon": 2.38,
"rear_axis_to_stopper": 0.3,
"stopper_adjust_buffer": 0.059,
"twosides_narrowest_width_advanced_abandon": 2.52
},
"yaml_params_config": {
"apa_yaml_params": {
"parallel_scene": {
"car_yaml_params": {
"lat_inflation_high_json": 0.25,
"lat_inflation_low_json": 0.12,
"lon_inflation_json": 0.25
}
},
"perpendicular_oblique_scene": {
"car_yaml_params": {
"lat_inflation_high_json": 0.17,
"lat_inflation_low_json": 0.12,
"lon_inflation_json": 0.3
}
}
},
"apoa_yaml_params": {
"parallel_scene": {
"car_yaml_params": {
"lat_inflation_high_json": 0.25,
"lat_inflation_low_json": 0.12,
"lon_inflation_json": 0.25
}
},
"perpendicular_oblique_scene": {
"car_yaml_params": {
"lat_inflation_high_json": 0.17,
"lat_inflation_low_json": 0.12,
"lon_inflation_json": 0.3
}
}
}
}
},
"enable_multiple_steer_modes": false,
"inflation_rearview_mirror": 0.10000000149011612,
"is_inflation_param_adjusted": false,
"lat_inflation_": 0.25,
"lat_inflation_low": 0.12,
"lat_inflation_max": 0.25,
"lat_inflation_min": 0.25,
"lon_inflation_": 0.25,
"lon_inflation_max": 0.25,
"lon_inflation_min": 0.25,
"max_abs_speed_when_stopped": 0.01,
"max_acceleration": 2.0,
"max_delta_angle": 31.724109427682286,
"max_delta_angle_rate": 27.586206896551722,
"max_delta_angle_rate_rear": 2.6537930718783675,
"max_delta_angle_rear": 3.0620690707502694,
"max_steer_angle": 459.9995867013931,
"max_steer_angle_rate": 400.0,
"max_steer_angle_rate_rear": 38.47999954223633,
"max_steer_angle_rear": 44.400001525878906,
"min_acceleration": -3.0,
"min_turn_radius": 5.014606620040222,
"rear_axle_offset": 0.0,
"shrink_ratio_for_lines_": 1.0,
"shrink_ratio_for_lines_min_": 1.0,
"steer_ratio": 14.5,
"throttle_deadzone": 18.0,
"type": "L7",
"vehicle_height": 1.4819999933242798,
"vehicle_length": 5.598,
"vehicle_length_real": 5.098,
"vehicle_width": 2.46,
"vehicle_width_real": 2.115,
"vehicle_width_wo_rearview_mirror": 1.96,
"wheel_base": 3.0999999046325684,
"wheel_rolling_radius": 0.3409999907016754
},
"HybridAstarConfig": {
"analytic_expansion_end_size_threshold": 0.1,
"delta_t": 1.0,
"display_points": 0,
"enable_analytic_expansion": false,
"enable_delta_cost": true,
"footprint_model_": 4,
"footprint_model_precise_": 6,
"force_analytic_expansion_end_direction": 0,
"grid_dijkstra_xy_resolution": 1.0,
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