From f4ed3ba8d97affb76b11fa38044238ac21af6b51 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 25 Sep 2023 16:23:49 +0900 Subject: [PATCH] feat(obstacle_cruise_planner): add parameters for a new feature (#581) * feat: add parameters for the feature "cosider-current-ego-pose" Signed-off-by: Yuki Takagi * set the params to be merged. use stop planner as cruise planner type (conventional setting) polygon expansion in obstacle_cruise_planner is true Signed-off-by: Yuki Takagi --------- Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner.param.yaml | 7 +++++++ 1 file changed, 7 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 aadd0ccd02..cb4d6a68c5 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 @@ -106,6 +106,13 @@ successive_num_to_entry_slow_down_condition: 5 successive_num_to_exit_slow_down_condition: 5 + # consider the current ego pose (it is not the nearest pose on the reference trajectory) + # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" + # The both errors decrease with constant rates against the time. + consider_current_pose: + enable_to_consider_current_pose: true + time_to_convergence: 1.5 #[s] + cruise: pid_based_planner: use_velocity_limit_based_planner: true