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fix(autoware_launch): update parameters #2

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merged 5 commits into from
Mar 22, 2023
Merged

fix(autoware_launch): update parameters #2

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fa3dc95
[smoother] change curve speed params
TakaHoribe Mar 20, 2023
8a65fd1
[longitudinal_controller] disable smooth_stop to prevent stopping at …
TakaHoribe Mar 20, 2023
2da9c89
only activate detection_area and lane change module in rtc_auto_manager
soblin Mar 20, 2023
d1834fb
fix(obstacle_stop_planner): fix lateral margin param
rej55 Mar 20, 2023
4046aa2
fixed overrun at stop line by modifying delay compensation time
soblin Mar 20, 2023
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4 changes: 2 additions & 2 deletions autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
/**:
ros__parameters:
delay_compensation_time: 0.17
delay_compensation_time: 0.5

enable_smooth_stop: true
enable_smooth_stop: false
enable_overshoot_emergency: true
enable_large_tracking_error_emergency: true
enable_slope_compensation: true
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6 changes: 3 additions & 3 deletions ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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Expand Up @@ -8,9 +8,9 @@
margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m]

# curve parameters
max_lateral_accel: 0.4 # max lateral acceleration limit [m/ss]
min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit
max_lateral_accel: 0.2 # max lateral acceleration limit [m/ss]
min_curve_velocity: 0.5 # min velocity at lateral acceleration limit [m/ss]
decel_distance_before_curve: 2.0 # slow speed distance before a curve for lateral acceleration limit
decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit
min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss]

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20 changes: 0 additions & 20 deletions ...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
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@@ -1,31 +1,11 @@
/**:
ros__parameters:
module_list:
- "blind_spot"
- "crosswalk"
- "detection_area"
- "intersection"
- "no_stopping_area"
- "traffic_light"
- "ext_request_lane_change_left"
- "ext_request_lane_change_right"
- "lane_change_left"
- "lane_change_right"
- "avoidance_left"
- "avoidance_right"
- "pull_over"
- "pull_out"

default_enable_list:
- "blind_spot"
- "crosswalk"
- "detection_area"
- "intersection"
- "no_stopping_area"
- "traffic_light"
- "lane_change_left"
- "lane_change_right"
- "avoidance_left"
- "avoidance_right"
- "pull_over"
- "pull_out"
2 changes: 1 addition & 1 deletion ...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
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Expand Up @@ -22,7 +22,7 @@

# params for detection area
detection_area:
lateral_margin: 0.0 # margin [m]
lateral_margin: 0.2 # margin [m]
vehicle_lateral_margin: 0.0 # margin of vehicle footprint [m]
pedestrian_lateral_margin: 0.0 # margin of pedestrian footprint [m]
unknown_lateral_margin: 0.0 # margin of unknown footprint [m]
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