From 812a878802f4c1d54fc428b0e9d429e748e2341b Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Mon, 2 Oct 2023 21:15:49 +0900 Subject: [PATCH 1/4] change launch order Signed-off-by: kyoichi-sugahara --- .../behavior_velocity_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7a0ef047f7..3e10486702 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -9,9 +9,9 @@ delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module launch_modules: + - behavior_velocity_planner::TrafficLightModulePlugin - behavior_velocity_planner::CrosswalkModulePlugin - behavior_velocity_planner::WalkwayModulePlugin - - behavior_velocity_planner::TrafficLightModulePlugin - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. - behavior_velocity_planner::MergeFromPrivateModulePlugin - behavior_velocity_planner::BlindSpotModulePlugin From 83e26cd46b5955e731d3efb70a69f239fede1f9b Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Wed, 4 Oct 2023 22:12:20 +0900 Subject: [PATCH 2/4] max_ahead_longitudinal_margin Signed-off-by: kyoichi-sugahara --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 4b81a1e687..55434525d8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -17,6 +17,8 @@ far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). # For the case where the stop position is determined according to the object position. stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin + # If the ahead stop position is already inserted, use the same position for the new stop point. + max_ahead_longitudinal_margin: 10.0 # [m] specifies the margin between the current position and the stop point # param for ego's slow down velocity slow_down: From abe8187330600458fc4e249d8d048b26a061b54a Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Mon, 2 Oct 2023 21:15:49 +0900 Subject: [PATCH 3/4] change launch order Signed-off-by: kyoichi-sugahara --- .../behavior_velocity_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index 7a0ef047f7..3e10486702 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -9,9 +9,9 @@ delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module launch_modules: + - behavior_velocity_planner::TrafficLightModulePlugin - behavior_velocity_planner::CrosswalkModulePlugin - behavior_velocity_planner::WalkwayModulePlugin - - behavior_velocity_planner::TrafficLightModulePlugin - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. - behavior_velocity_planner::MergeFromPrivateModulePlugin - behavior_velocity_planner::BlindSpotModulePlugin From ef04d7616bb49fa7a866acf298f61981d65ebf76 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Wed, 4 Oct 2023 23:00:41 +0900 Subject: [PATCH 4/4] change param Signed-off-by: kyoichi-sugahara --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 55434525d8..38b5829fe6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -18,7 +18,7 @@ # For the case where the stop position is determined according to the object position. stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin # If the ahead stop position is already inserted, use the same position for the new stop point. - max_ahead_longitudinal_margin: 10.0 # [m] specifies the margin between the current position and the stop point + max_ahead_longitudinal_margin: 5.0 # [m] specifies the margin between the current position and the stop point # param for ego's slow down velocity slow_down: