Merge remote-tracking branch 'origin/awf-latest' into obstacle_cruise…

…_planner_pointcloud
mitukou1109 · Jun 27, 2024 · c58722a · c58722a
2 parents 7a33136 + 567ba3a
commit c58722a
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Showing 4 changed files with 11 additions and 2 deletions.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -5,9 +5,13 @@
       resample_interval_for_planning: 0.3               # [m] FOR DEVELOPER
       resample_interval_for_output: 4.0                 # [m] FOR DEVELOPER
 
+      # drivable lane setting. this module is able to use not only current lane but also right/left lane
+      # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap.
+      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
+      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
+      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
+      use_lane_type: "opposite_direction_lane"
       # drivable area setting
-      use_adjacent_lane: true
-      use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
       use_freespace_areas: true
@@ -174,6 +178,7 @@
         safety_check_backward_distance: 100.0           # [m]
         hysteresis_factor_expand_rate: 1.5              # [-]
         hysteresis_factor_safe_count: 3                 # [-]
+        collision_check_yaw_diff_threshold: 3.1416      # [rad]
         # predicted path parameters
         min_velocity: 1.38                              # [m/s]
         max_velocity: 50.0                              # [m/s]

diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -182,6 +182,7 @@
             time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 3.1416
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -30,6 +30,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -143,8 +143,10 @@
             lateral_distance_max_threshold: 2.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
+            extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path"
           # hysteresis factor to expand/shrink polygon
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 1.578
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0