Merge pull request autowarefoundation#560 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
soblin · Jul 20, 2023 · 862c591 · 862c591
2 parents a26b351 + e1da2bb
commit 862c591
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -177,7 +177,7 @@
         longitudinal:
           nominal_deceleration: -1.0                    # [m/ss]
           nominal_jerk: 0.5                             # [m/sss]
-          max_deceleration: -2.0                        # [m/ss]
+          max_deceleration: -1.5                        # [m/ss]
           max_jerk: 1.0                                 # [m/sss]
           max_acceleration: 1.0                         # [m/ss]
 

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -19,7 +19,7 @@
       output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
       output_backward_traj_length: 5.0  # backward length for backward trajectory from base_link [m]
 
-      vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
+      vehicle_stop_margin_outside_drivable_area: 0.0 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
                                                      # This margin will be realized with delta_arc_length_for_mpt_points m precision.
 
     # replanning & trimming trajectory param outside algorithm