Merge pull request autowarefoundation#566 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
soblin · Jul 25, 2023 · e17e880 · e17e880
2 parents 30216f6 + 1e6aa16
commit e17e880
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Showing 2 changed files with 15 additions and 7 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,21 +16,29 @@
 
         successive_num_to_entry_dynamic_avoidance_condition: 5
 
-        min_obj_lat_offset_to_ego_path: 0.3 # [m]
+        min_obj_lat_offset_to_ego_path: 0.0 # [m]
+        max_obj_lat_offset_to_ego_path: 1.0 # [m]
+
+        crossing_object:
+          min_object_vel: 1.0
+          max_object_angle: 1.05
+
+        front_object:
+          max_object_angle: 0.785
 
       drivable_area_generation:
-        lat_offset_from_obstacle: 0.8 # [m]
+        lat_offset_from_obstacle: 1.0 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
 
         # for same directional object
         overtaking_object:
-          max_time_to_collision: 3.0 # [s]
-          start_duration_to_avoid: 4.0  # [s]
-          end_duration_to_avoid: 8.0  # [s]
+          max_time_to_collision: 10.0 # [s]
+          start_duration_to_avoid: 2.0  # [s]
+          end_duration_to_avoid: 4.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
-          max_time_to_collision: 3.0 # [s]
+          max_time_to_collision: 15.0 # [s]
           start_duration_to_avoid: 12.0  # [s]
           end_duration_to_avoid: 0.0  # [s]
diff --git a/...nning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/...nning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml
@@ -16,7 +16,7 @@
         max_curvature: 0.1  # [m⁻¹] maximum curvature of a sampled path
         min_curvature: -0.1  # [m⁻¹] minimum curvature of a sampled path
       soft:
-        lateral_deviation_weight: 0.1  # cost weight for lateral deviation between the end of a sampled path and the reference path
+        lateral_deviation_weight: 1.0  # cost weight for lateral deviation between the end of a sampled path and the reference path
         length_weight: 1.0  # cost weight for the length of a sampled path
         curvature_weight: 1.0  # cost weight for the curvature of a sampled path
     sampling: