Merge pull request #518 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
autowarefoundation · Jun 20, 2023 · 18e4a04 · 18e4a04
2 parents 8326676 + ce34081
commit 18e4a04
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Showing 2 changed files with 20 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
@@ -29,48 +29,64 @@
       target_object:
         car:
           enable: true                                 # [-]
+          moving_speed_threshold: 1.0                  # [m/s]
+          moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
           safety_buffer_lateral: 0.7                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
           enable: true
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
           enable: false
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
@@ -81,8 +97,6 @@
       # For target object filtering
       target_filtering:
         # filtering moving objects
-        threshold_speed_object_is_stopped: 1.0          # [m/s]
-        threshold_time_object_is_moving: 1.0            # [s]
         threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s]
         # detection range
         object_ignore_distance_traffic_light: 70.0      # [m]

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -9,12 +9,12 @@
       collision_check_distance_from_end: 1.0
       # shift pull out
       enable_shift_pull_out: true
-      shift_pull_out_velocity: 4.0
-      pull_out_sampling_num: 4
       minimum_shift_pull_out_distance: 0.0
-      maximum_lateral_jerk: 2.0
-      minimum_lateral_jerk: 0.1
       deceleration_interval: 15.0
+      lateral_jerk: 0.5
+      lateral_acceleration_sampling_num: 1
+      minimum_lateral_acc: 0.15
+      maximum_lateral_acc: 0.5
       # geometric pull out
       enable_geometric_pull_out: true
       divide_pull_out_path: false