From 84188bb16b1f701a25a16165e64c913bdf8188f0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 25 Aug 2023 09:05:01 +0900 Subject: [PATCH] fix(avoidance): avoidance shift line processing bug (#527) fix(avoidance): safety check chattering Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) 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 948fcaf829..ff52b70eae 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 @@ -4,8 +4,6 @@ avoidance: resample_interval_for_planning: 0.3 # [m] resample_interval_for_output: 4.0 # [m] - detection_area_right_expand_dist: 0.0 # [m] - detection_area_left_expand_dist: 1.0 # [m] drivable_area_right_bound_offset: 0.0 # [m] drivable_area_left_bound_offset: 0.0 # [m] @@ -145,13 +143,12 @@ time_horizon: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] safety_check_hysteresis_factor: 2.0 # [-] - safety_check_ego_offset: 1.0 # [m] # rss parameters expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s] rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 2.0 # [m] + lateral_distance_max_threshold: 0.75 # [m] longitudinal_distance_min_threshold: 3.0 # [m] longitudinal_velocity_delta_time: 0.8 # [s]