From dde7d83215d6e8eeade8bbc8b4cbdb450ef72109 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 20 Jul 2023 15:53:41 +0900 Subject: [PATCH 1/2] fix(avoidance): update config to prevent unconfortable deceleration (#466) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5f5e211492..eb300dd612 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -175,7 +175,7 @@ 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] From e1da2bbc7a27badf9a9cc9ae01d0a91cb16ecac2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 20 Jul 2023 19:38:12 +0900 Subject: [PATCH 2/2] chore(autoware_launch): zero margin for outside the drivable area (#468) 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 a801d3c520..f681398717 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 @@ -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