feat(avoidance): use improved path shifting logic

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Jul 10, 2023 · 478b865 · 478b865
1 parent e09a322
commit 478b865
Showing 1 changed file with 5 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
@@ -164,18 +164,17 @@
 
         # lateral constraints
         lateral:
-          nominal_lateral_jerk: 0.2                     # [m/s3]
-          max_lateral_jerk: 1.0                         # [m/s3]
+          nominal_lateral_jerk: 0.2                     # [m/sss]
+          max_lateral_jerk: 1.0                         # [m/sss]
+          max_lateral_acceleration: 0.5                 # [m/ss]
 
         # longitudinal constraints
         longitudinal:
           nominal_deceleration: -1.0                    # [m/ss]
           nominal_jerk: 0.5                             # [m/sss]
           max_deceleration: -2.0                        # [m/ss]
-          max_jerk: 1.0
-          # For prevention of large acceleration while avoidance
-          min_avoidance_speed_for_acc_prevention: 3.0   # [m/s]
-          max_avoidance_acceleration: 0.5               # [m/ss]
+          max_jerk: 1.0                                 # [m/sss]
+          max_acceleration: 1.0                         # [m/ss]
 
       target_velocity_matrix:
         col_size: 2