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chore: sync awf-latest-x2 #135

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merged 2 commits into from
May 19, 2023
Merged

chore: sync awf-latest-x2 #135

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c6856e9
feat(behavior): increase dynamic avoidance module priority (#355)
satoshi-ota May 18, 2023
038ec38
feat(planning_launch): change lane change sampling number (#358)
purewater0901 May 18, 2023
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2 changes: 1 addition & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
longitudinal_acceleration_sampling_num: 3
longitudinal_acceleration_sampling_num: 5
lateral_acceleration_sampling_num: 3

# lateral acceleration map
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14 changes: 7 additions & 7 deletions ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,28 +7,28 @@
enable_module: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
priority: 6
priority: 7
max_module_size: 1

external_request_lane_change_right:
enable_module: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
priority: 6
priority: 7
max_module_size: 1

lane_change_left:
enable_module: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 5
priority: 6
max_module_size: 1

lane_change_right:
enable_module: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 5
priority: 6
max_module_size: 1

pull_out:
Expand Down Expand Up @@ -56,20 +56,20 @@
enable_module: true
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
priority: 4
priority: 5
max_module_size: 1

# NOTE: This module is unstable. Deprecated for now.
avoidance_by_lc:
enable_module: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
priority: 3
priority: 4
max_module_size: 1

dynamic_avoidance:
enable_module: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
priority: 7
priority: 3
max_module_size: 1