From 6bbb1ccff81e4759866b5bea429148f81d2160c5 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 25 Apr 2024 18:18:22 +0900 Subject: [PATCH 1/3] feat(start_planner): tune parameter to improve collision (#1273) tune parameter to improve collision Signed-off-by: Daniel Sanchez --- .../config/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml index 4904be536ee95..9c999b1e1b6a0 100644 --- a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml @@ -130,7 +130,7 @@ rss_params: rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 2.0 + lateral_distance_max_threshold: 3.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon From 3b2f47f63785b489a8fb5986191ecd8f2c0ec2f3 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 8 May 2024 12:03:31 +0900 Subject: [PATCH 2/3] Update utils.py --- .../planning_debug_tools/scripts/perception_replayer/utils.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/planning_debug_tools/scripts/perception_replayer/utils.py b/planning/planning_debug_tools/scripts/perception_replayer/utils.py index 5ded8d2ea409c..7e8e0a18b4b7c 100644 --- a/planning/planning_debug_tools/scripts/perception_replayer/utils.py +++ b/planning/planning_debug_tools/scripts/perception_replayer/utils.py @@ -146,7 +146,7 @@ def toc(self, name): time.perf_counter() - self.start_times[name] ) * 1000 # Convert to milliseconds if self.verbose: - print(f"Time for {name}: {elapsed_time:.2f} ms") + print(f"Time for {name}: {elapsed_time: .2f} ms") # Reset the starting time for the name del self.start_times[name] From d8a02d8e7c11e7a5ecd179d45e9d05e4d45cf8b8 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 8 May 2024 12:04:47 +0900 Subject: [PATCH 3/3] Update dump.py --- system/diagnostic_graph_aggregator/script/dump.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/diagnostic_graph_aggregator/script/dump.py b/system/diagnostic_graph_aggregator/script/dump.py index 9abcaeb7a080c..a647b2677b160 100755 --- a/system/diagnostic_graph_aggregator/script/dump.py +++ b/system/diagnostic_graph_aggregator/script/dump.py @@ -31,7 +31,7 @@ def print_table(lines: list, header: list): lines.insert(0, ["-" * w for w in widths]) lines.insert(2, ["-" * w for w in widths]) for line in lines: - line = map(lambda v, w: f"{v:{w}}", line, widths) + line = map(lambda v, w: f"{v: {w}}", line, widths) line = " | ".join(line) print(f"| {line} |")