Merge pull request #184 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Jun 15, 2023 · 9b929a7 · 9b929a7
2 parents 27c11ab + 45d91a1
commit 9b929a7
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Showing 2 changed files with 16 additions and 4 deletions.
diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -56,3 +56,5 @@
 
     # system
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
+
+    plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.
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
@@ -28,45 +28,55 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          enable: true
-          envelope_buffer_margin: 0.3
-          safety_buffer_lateral: 0.7
-          safety_buffer_longitudinal: 0.0
+          enable: true                                 # [-]
+          max_expand_ratio: 0.0                        # [-]
+          envelope_buffer_margin: 0.3                  # [m]
+          safety_buffer_lateral: 0.7                   # [m]
+          safety_buffer_longitudinal: 0.0              # [m]
         truck:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
+        lower_distance_for_polygon_expansion: 30.0      # [m]
+        upper_distance_for_polygon_expansion: 100.0     # [m]
 
       # For target object filtering
       target_filtering:
Original file line number	Diff line number	Diff line change
Expand Up		@@ -56,3 +56,5 @@

		# system
		over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point

		plan_from_ego_speed_on_manual_mode: true # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.