From fb4401bb6f046e92daa5c1b16783ddcab9b0def2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 21 Mar 2024 12:16:40 +0900 Subject: [PATCH 1/2] refactor(avoidance): update parameter namespace (#928) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 619539be0d..0f430e3048 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -7,8 +7,6 @@ # avoidance module common setting enable_bound_clipping: false - enable_yield_maneuver: true - enable_yield_maneuver_during_shifting: false enable_cancel_maneuver: true disable_path_update: false @@ -247,7 +245,8 @@ # For yield maneuver yield: - yield_velocity: 2.78 # [m/s] + enable: true # [-] + enable_during_shifting: false # [-] # For stop maneuver stop: From d4c42bd4fbe4cbffee7d57c4fc6e5a1240acfe99 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 21 Mar 2024 20:31:29 +0900 Subject: [PATCH 2/2] feat(run_out): adjust parameter (#931) chore(run_out): adjust parameter (#777) Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> --- .../behavior_velocity_planner/run_out.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 196f7c6296..3af5164a52 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -22,7 +22,7 @@ std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 10.0 # [sec] create predicted path until this time + max_prediction_time: 3.0 # [sec] create predicted path until this time time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method @@ -37,7 +37,7 @@ # Parameter to prevent abrupt stops caused by false positives in perception ignore_momentary_detection: enable: true - time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration + time_threshold: 0.5 # [sec] ignores detections that persist for less than this duration # Typically used when the "detection_method" is set to ObjectWithoutPath or Points # Approach if the ego has stopped in front of the obstacle for a certain period