Merge branch 'main' into feat/launch-mrm-handler-option

autowarefoundation · Mar 22, 2024 · c0c1c1e · c0c1c1e
2 parents c7856f1 + d4c42bd
commit c0c1c1e
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Showing 2 changed files with 4 additions and 5 deletions.
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
@@ -7,8 +7,6 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_yield_maneuver: true
-      enable_yield_maneuver_during_shifting: false
       enable_cancel_maneuver: true
       disable_path_update: false
 
@@ -247,7 +245,8 @@
 
       # For yield maneuver
       yield:
-        yield_velocity: 2.78                            # [m/s]
+        enable: true                                    # [-]
+        enable_during_shifting: false                   # [-]
 
       # For stop maneuver
       stop:

diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -22,7 +22,7 @@
         std_dev_multiplier: 1.96  # [-] min and max velocity of the obstacles are calculated from this value and covariance
         diameter: 0.1             # [m] diameter of obstacles. used for creating dynamic obstacles from points
         height: 2.0               # [m] height of obstacles. used for creating dynamic obstacles from points
-        max_prediction_time: 10.0 # [sec] create predicted path until this time
+        max_prediction_time: 3.0  # [sec] create predicted path until this time
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
@@ -37,7 +37,7 @@
       # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
-        time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
+        time_threshold: 0.5   # [sec] ignores detections that persist for less than this duration
 
       # Typically used when the "detection_method" is set to ObjectWithoutPath or Points
       # Approach if the ego has stopped in front of the obstacle for a certain period