From aab18baba751d4c7affe9bc25b5fc196861379ae Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 12 Sep 2023 23:00:13 +0900 Subject: [PATCH 1/2] feat(autoware_launch): add approaching stop on curve in obstacle cruise planner (#560) * feat(autoware_launch): add approaching stop on curve in obstacle cruise planner Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index b71c2d667c..aadd0ccd02 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -20,6 +20,10 @@ nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index min_behavior_stop_margin: 3.0 # [m] + stop_on_curve: + enable_approaching: false + additional_safe_distance_margin: 3.0 # [m] + min_safe_distance_margin: 3.0 # [m] suppress_sudden_obstacle_stop: true stop_obstacle_type: From cb55e835b29c54030c45c7647f3948574fd7975b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 13 Sep 2023 00:45:18 +0900 Subject: [PATCH 2/2] feat(goal_planner): use only static objects in pull over lanes to path generation (#562) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 1bfe689c55..c1fd848857 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -32,6 +32,7 @@ use_object_recognition: true object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 + th_moving_object_velocity: 1.0 # pull over pull_over: