Merge pull request autowarefoundation#606 from tier4/sync-awf-latest

chore: sync awf-latest
Kazunori-Nakajima · Sep 20, 2024 · 2a89eea · 2a89eea
2 parents d7aedeb + 4288f79
commit 2a89eea
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Showing 2 changed files with 1 addition and 8 deletions.
diff --git a/...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
@@ -7,7 +7,6 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          execute_num: 2                               # [-]
           th_moving_speed: 1.0                         # [m/s]
           th_moving_time: 1.0                          # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -17,7 +16,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         truck:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -27,7 +25,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bus:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -37,7 +34,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         trailer:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -47,7 +43,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         unknown:
-          execute_num: 1
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -57,7 +52,6 @@
             hard_margin: 0.0                           # [m]
             hard_margin_for_parked_vehicle: 0.0        # [m]
         bicycle:
-          execute_num: 2
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -67,7 +61,6 @@
             hard_margin: 1.0                           # [m]
             hard_margin_for_parked_vehicle: 1.0        # [m]
         motorcycle:
-          execute_num: 2
           th_moving_speed: 1.0                         # 3.6km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0
@@ -77,7 +70,6 @@
             hard_margin: 1.0                           # [m]
             hard_margin_for_parked_vehicle: 1.0        # [m]
         pedestrian:
-          execute_num: 2
           th_moving_speed: 0.28                        # 1.0km/h
           th_moving_time: 1.0
           max_expand_ratio: 0.0

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -34,6 +34,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        enable_target_lane_bound_check: true
         collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0