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Feat/obstacle cruise/cosider current ego pose awf main base #575

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Feat/obstacle cruise/cosider current ego pose awf main base #575

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34b8e6c
feat: add parameters for the feature "cosider-current-ego-pose"
yuki-takagi-66 Sep 14, 2023
ecd8511
change description of the parameters
yuki-takagi-66 Sep 14, 2023
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7 changes: 7 additions & 0 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -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
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