From 4fded033880a73723c13a754fff487729201ddf2 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 10 Jul 2024 19:30:46 +0900 Subject: [PATCH 1/2] feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index ef113f6ff2..d635a47250 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -142,7 +142,7 @@ # "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically. # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode. # "ignore" : never avoid it. - policy: "auto" # [-] + policy: "manual" # [-] condition: th_stopped_time: 3.0 # [s] th_moving_distance: 1.0 # [m] From 8e213ea92f6b53392f3552d24fe84bd8e77feb33 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 30 Jul 2024 09:56:52 +0900 Subject: [PATCH 2/2] fix(static_obstacle_avoidance): tune ambiguous vehicle ignore area Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index d635a47250..b9dd111f66 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -148,10 +148,10 @@ th_moving_distance: 1.0 # [m] ignore_area: traffic_light: - front_distance: 100.0 # [m] + front_distance: 20.0 # [m] crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] + front_distance: 20.0 # [m] + behind_distance: 0.0 # [m] wait_and_see: target_behaviors: ["MERGING", "DEVIATING"] # [-] th_closest_distance: 10.0 # [m]