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chore: sync awf/autoware_launch #224

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merged 3 commits into from
Aug 14, 2023
Merged

chore: sync awf/autoware_launch #224

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786e8af
feat(map_projection_loader): add map_projection_loader (#483)
kminoda Aug 10, 2023
1978d63
feat(avoidance): make it selectable avoidance policy (#505)
satoshi-ota Aug 10, 2023
975fe46
feat(autoware_launch): add polygon_generation_method in dynamic_avoid…
takayuki5168 Aug 12, 2023
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4 changes: 0 additions & 4 deletions autoware_launch/config/map/lanelet2_map_loader.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,3 @@
/**:
ros__parameters:
lanelet2_map_projector_type: MGRS # Options: MGRS, UTM, local
latitude: 40.81187906 # Latitude of map_origin, using in UTM
longitude: 29.35810110 # Longitude of map_origin, using in UTM

center_line_resolution: 5.0 # [m]
19 changes: 16 additions & 3 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -175,10 +175,23 @@
max_distance: 20.0 # [m]
stop_buffer: 1.0 # [m]

constraints:
# vehicle slows down under longitudinal constraints
use_constraints_for_decel: true # [-]
policy:
# policy for vehicle slow down behavior. select "best_effort" or "reliable".
# "best_effort": slow down deceleration & jerk are limited by constraints.
# but there is a possibility that the vehicle can't stop in front of the vehicle.
# "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
# make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
deceleration: "best_effort" # [-]
# policy for avoidance lateral margin. select "best_effort" or "reliable".
# "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
# margin to avoid.
# "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid
# with expected lateral margin.
lateral_margin: "best_effort" # [-]
# if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.
use_shorten_margin_immediately: true # [-]

constraints:
# lateral constraints
lateral:
velocity: [1.0, 1.38, 11.1] # [m/s]
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2 changes: 2 additions & 0 deletions ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Expand Up @@ -42,6 +42,8 @@
max_object_angle: 0.785

drivable_area_generation:
polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"

lat_offset_from_obstacle: 0.8 # [m]
max_lat_offset_to_avoid: 0.5 # [m]
max_time_for_object_lat_shift: 0.0 # [s]
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