From 085a6946830404b94c259e9b26c1dd1325a15309 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 22 Jan 2025 16:58:58 +0900 Subject: [PATCH 1/2] feat(goal_planner): introduce bezier based pullover for bus stop area Signed-off-by: Mamoru Sobue --- .../goal_planner/goal_planner.param.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 723e34e61a..01e0ab0122 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -25,8 +25,8 @@ high_curvature_threshold: 0.1 bus_stop_area: use_bus_stop_area: false - goal_search_interval: 0.5 - lateral_offset_interval: 0.25 + goal_search_interval: 0.75 + lateral_offset_interval: 0.3 # occupancy grid map occupancy_grid: @@ -51,7 +51,7 @@ # pull over pull_over: - minimum_request_length: 0.0 + minimum_request_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 @@ -130,6 +130,10 @@ neighbor_radius: 8.0 margin: 1.0 + bezier_parking: + pull_over_azimuth_threshold: 0.5 + after_shift_straight_distance: 1.5 + stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 From 7321aa6e802eab31311c2d091051bd567b4200f4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 24 Jan 2025 16:43:01 +0900 Subject: [PATCH 2/2] use prepare length Signed-off-by: Mamoru Sobue --- .../goal_planner/goal_planner.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 01e0ab0122..95b2095f87 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -51,7 +51,8 @@ # pull over pull_over: - minimum_request_length: 100.0 + minimum_request_length: 0.0 + pull_over_prepare_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 @@ -131,7 +132,7 @@ margin: 1.0 bezier_parking: - pull_over_azimuth_threshold: 0.5 + pull_over_angle_threshold: 0.5 after_shift_straight_distance: 1.5 stop_condition: