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feat(autoware_launch): use hatched road markings in dynamic avoidance #504

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merged 3 commits into from
Aug 8, 2023
Merged

feat(autoware_launch): use hatched road markings in dynamic avoidance #504

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f1bed58
feat(autoware_launch): add use_hatched_road_markings in dynamic_avoid…
takayuki5168 Aug 8, 2023
0f0c595
add parameters
takayuki5168 Aug 8, 2023
688fb0e
update
takayuki5168 Aug 8, 2023
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5 changes: 4 additions & 1 deletion ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
dynamic_avoidance:
common:
enable_debug_info: true
use_hatched_road_markings: true

# avoidance is performed for the object type with true
target_object:
Expand Down Expand Up @@ -43,6 +44,8 @@
drivable_area_generation:
lat_offset_from_obstacle: 0.8 # [m]
max_lat_offset_to_avoid: 0.5 # [m]
max_time_for_object_lat_shift: 2.0 # [s]
lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]

# for same directional object
overtaking_object:
Expand All @@ -53,6 +56,6 @@

# for opposite directional object
oncoming_object:
max_time_to_collision: 15.0 # [s]
max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
start_duration_to_avoid: 12.0 # [s]
end_duration_to_avoid: 0.0 # [s]