feat(behavior_path_planner): plan shift pull over/out on curve (autow…

…arefoundation#644) * feat(behavior_path_planner): plan shift pull over on curve Signed-off-by: kosuke55 <[email protected]> * feat(behavior_path_planner): plan shift pull out on curve Signed-off-by: kosuke55 <[email protected]> * remove pull_out_finish_judge_buffer param Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
TomohitoAndo · Dec 22, 2022 · a48fd1e · a48fd1e
1 parent f060a10
commit a48fd1e
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Showing 2 changed files with 1 addition and 3 deletions.
diff --git a/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -5,12 +5,11 @@
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
       collision_check_margin: 1.0
-      pull_out_finish_judge_buffer: 1.0
+      collision_check_distance_from_end: 1.0
       # shift pull out
       enable_shift_pull_out: true
       shift_pull_out_velocity: 2.0
       pull_out_sampling_num: 4
-      before_pull_out_straight_distance: 0.0
       minimum_shift_pull_out_distance: 20.0
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5

diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -35,7 +35,6 @@
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
       after_pull_over_straight_distance: 5.0
-      before_pull_over_straight_distance: 5.0
       # parallel parking path
       enable_arc_forward_parking: true
       enable_arc_backward_parking: true