From a48fd1e6b884454df69098ff825f425bf9ee1cae Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 22 Dec 2022 16:11:49 +0900 Subject: [PATCH] feat(behavior_path_planner): plan shift pull over/out on curve (#644) * feat(behavior_path_planner): plan shift pull over on curve Signed-off-by: kosuke55 * feat(behavior_path_planner): plan shift pull out on curve Signed-off-by: kosuke55 * remove pull_out_finish_judge_buffer param Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../behavior_path_planner/pull_out/pull_out.param.yaml | 3 +-- .../behavior_path_planner/pull_over/pull_over.param.yaml | 1 - 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml index 7a9a63f805..b092eb7fc8 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml +++ b/planning_launch/config/scenario_planning/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/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml index 8e277959bc..75b5facaaa 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml +++ b/planning_launch/config/scenario_planning/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