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chore: sync awf-latest-x2 #81

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merged 5 commits into from
Apr 26, 2023
Merged

chore: sync awf-latest-x2 #81

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0f4ba5e
refactor(planning_launch): use common params for lane change (#317)
purewater0901 Apr 25, 2023
0e69e4a
feat(behavior_velocity_planner::intersection): add parameter for occl…
soblin Apr 25, 2023
321de76
feat(behavior_path_planner): run avoidance and pull out simultaneousl…
kosuke55 Apr 25, 2023
e419650
refactor(planning_launch): remove minimum prepare length (#319)
purewater0901 Apr 25, 2023
362cbcc
chore(autoware_launch): tune intersection parameters (#323)
takayuki5168 Apr 25, 2023
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2 changes: 0 additions & 2 deletions ...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 @@ -3,7 +3,6 @@
lane_change:
prepare_duration: 4.0 # [s]

minimum_prepare_length: 10.0 # [m]
backward_length_buffer_for_end_of_lane: 3.0 # [m]
lane_change_finish_judge_buffer: 2.0 # [m]

Expand All @@ -14,7 +13,6 @@

minimum_lane_changing_velocity: 2.78 # [m/s]
prediction_time_resolution: 0.5 # [s]
maximum_deceleration: 1.0 # [m/s2]
lane_change_sampling_num: 3

# collision check
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2 changes: 1 addition & 1 deletion ...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
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Expand Up @@ -33,7 +33,7 @@

pull_out:
enable_module: true
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
priority: 0
max_module_size: 1
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3 changes: 2 additions & 1 deletion ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -33,10 +33,11 @@
occlusion_detection_area_length: 70.0 # [m]
enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
peeking_offset: -0.5 # [m] offset for peeking into detection area
free_space_max: 43
occupied_min: 58
do_dp: true
before_creep_stop_time: 1.0 # [s]
before_creep_stop_time: 0.1 # [s]
min_vehicle_brake_for_rss: -2.5 # [m/s^2]
max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph

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