Merge pull request #343 from tier4/sync-awf-latest

chore: sync awf-latest
h-ohta · Mar 12, 2024 · 22ac2aa · 22ac2aa
2 parents 90fa986 + 7c57ef7
commit 22ac2aa
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diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
@@ -11,6 +11,12 @@
       map_frame: "map"
 
 
+    sensor_points:
+      # Required distance of input sensor points. [m]
+      # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
+      required_distance: 10.0
+
+
     ndt:
       # The maximum difference between two consecutive
       # transformations in order to consider convergence

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -96,7 +96,7 @@
           ego_obstacle_overlap_time_threshold : 2.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
         yield:
-          enable_yield: false
+          enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
           max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
           max_obstacles_collision_time: 10.0 # how far the blocking obstacle