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Po #786

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Po #786

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569922c
feat: use obstacle_cruise_planner and change safe_distance_margin
takayuki5168 Jan 14, 2024
4093576
feat: set max_vel to 40km/h
takayuki5168 Jan 14, 2024
1807154
Merge pull request #276 from tier4/sync-awf-latest
takayuki5168 Jan 14, 2024
927f78b
Merge pull request #277 from tier4/sync-awf-latest
takayuki5168 Jan 15, 2024
00f21f6
po
takayuki5168 Jan 14, 2024
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6 changes: 3 additions & 3 deletions autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
/**:
ros__parameters:
map_frame: map
arrival_check_angle_deg: 45.0
arrival_check_distance: 1.0
arrival_check_duration: 1.0
arrival_check_angle_deg: 60.0
arrival_check_distance: 2.0
arrival_check_duration: 2.0
goal_angle_threshold_deg: 45.0
enable_correct_goal_pose: false
reroute_time_threshold: 10.0
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2 changes: 1 addition & 1 deletion autoware_launch/config/planning/preset/default_preset.yaml
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Expand Up @@ -97,7 +97,7 @@ launch:

- arg:
name: motion_stop_planner_type
default: obstacle_stop_planner
default: obstacle_cruise_planner
# option: obstacle_stop_planner
# obstacle_cruise_planner
# none
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2 changes: 1 addition & 1 deletion ...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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@@ -1,7 +1,7 @@
/**:
ros__parameters:
# motion state constraints
max_velocity: 20.0 # max velocity limit [m/s]
max_velocity: 11.1 # max velocity limit [m/s]
stop_decel: 0.0 # deceleration at a stop point[m/ss]

# external velocity limit parameter
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2 changes: 1 addition & 1 deletion ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -12,7 +12,7 @@
idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
safe_distance_margin : 5.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
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