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feat(start_planner): add collision check distances for shift and geometric pull out #832

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merged 24 commits into from
Jan 31, 2024
Merged

feat(start_planner): add collision check distances for shift and geometric pull out #832

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569922c
feat: use obstacle_cruise_planner and change safe_distance_margin
takayuki5168 Jan 14, 2024
4093576
feat: set max_vel to 40km/h
takayuki5168 Jan 14, 2024
1807154
Merge pull request #276 from tier4/sync-awf-latest
takayuki5168 Jan 14, 2024
927f78b
Merge pull request #277 from tier4/sync-awf-latest
takayuki5168 Jan 15, 2024
710aadb
Merge pull request #278 from tier4/sync-awf-latest
takayuki5168 Jan 15, 2024
df27790
feat: enable surround_obstacle_checker
takayuki5168 Jan 16, 2024
5223175
Merge branch 'awf-latest' into sync-awf-latest
takayuki5168 Jan 16, 2024
78c4193
Merge pull request #280 from tier4/sync-awf-latest
takayuki5168 Jan 16, 2024
39191f2
feat: enable surround_obstacle_checker
takayuki5168 Jan 16, 2024
8f97a4a
Merge pull request #281 from tier4/sync-awf-latest
takayuki5168 Jan 18, 2024
bb98489
Merge pull request #283 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 18, 2024
f00f55f
Merge pull request #284 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 19, 2024
c18b0c6
Merge pull request #285 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 20, 2024
9710857
Merge pull request #286 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 21, 2024
1e6387a
feat: enable dynamic_avoidance and disable outside_drivable_area_stop
takayuki5168 Jan 21, 2024
b8c18ca
Merge pull request #287 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 22, 2024
5291a10
Merge pull request #288 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 23, 2024
3a4728b
Merge pull request #290 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 24, 2024
31f2b13
Merge pull request #292 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 25, 2024
2b7390b
Merge pull request #293 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 26, 2024
8efde45
Merge pull request #295 from tier4/sync-awf-latest
tier4-autoware-public-bot[bot] Jan 29, 2024
2ec2133
Add collision check distances for shift and geometric pull out
kyoichi-sugahara Jan 30, 2024
2a5e200
Merge branch 'main' into feat/apply_offset_distance_for_geometric
kyoichi-sugahara Jan 30, 2024
89fc72f
Update default presets and parameters for planning modules
kyoichi-sugahara Jan 30, 2024
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2 changes: 2 additions & 0 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: true
shift_collision_check_distance_from_end: -10.0
minimum_shift_pull_out_distance: 0.0
deceleration_interval: 15.0
lateral_jerk: 0.5
Expand All @@ -23,6 +24,7 @@
maximum_curvature: 0.07
# geometric pull out
enable_geometric_pull_out: true
geometric_collision_check_distance_from_end: 0.0
divide_pull_out_path: true
geometric_pull_out_velocity: 1.0
arc_path_interval: 1.0
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