From 20a3068a1e85170659a7ef528ef12b4c6f4e2ebe Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 28 Apr 2023 23:28:08 +0900 Subject: [PATCH 1/2] feat(autoware_launch): add min_drivable_width Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 01a8dfb483..6fc770d548 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -110,6 +110,7 @@ avoidance_cost_margin: 0.0 # [m] avoidance_cost_band_length: 5.0 # [m] avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval + min_drivable_width: 0.2 # [m] The vehicle width and this parameter is supposed to be kept in the optimization's constraint weight: lat_error_weight: 0.0 # weight for lateral error From 39d629c6074a9e988fc3d4ac934260092c755d4a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 30 Apr 2023 19:06:00 +0900 Subject: [PATCH 2/2] update Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 6fc770d548..3f4655b782 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -110,7 +110,7 @@ avoidance_cost_margin: 0.0 # [m] avoidance_cost_band_length: 5.0 # [m] avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval - min_drivable_width: 0.2 # [m] The vehicle width and this parameter is supposed to be kept in the optimization's constraint + min_drivable_width: 0.2 # [m] The vehicle width and this parameter is guaranteed to keep for collision free constraint. weight: lat_error_weight: 0.0 # weight for lateral error