From de503e9e1729a84686f6d6e87ec2d6bb59402ae4 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 31 May 2023 17:32:39 +0900 Subject: [PATCH] feat(pull_out): support pull out normal lane (#377) * add th_blinker_on_lateral_offset: 1.0 Signed-off-by: kosuke55 * minimum_shift_pull_out_distance: 0.0 Signed-off-by: kosuke55 * minimum_lateral_jerk: 0.1 Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_out/pull_out.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml index 68000747b7..bd1ccd2065 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml @@ -4,15 +4,16 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 + th_blinker_on_lateral_offset: 1.0 collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 # shift pull out enable_shift_pull_out: true shift_pull_out_velocity: 2.0 pull_out_sampling_num: 4 - minimum_shift_pull_out_distance: 20.0 + minimum_shift_pull_out_distance: 0.0 maximum_lateral_jerk: 2.0 - minimum_lateral_jerk: 0.5 + minimum_lateral_jerk: 0.1 deceleration_interval: 15.0 # geometric pull out enable_geometric_pull_out: true