Merge pull request autowarefoundation#928 from tier4/sync-beta-upstream

chore: sync beta upstream
tier4 · Aug 7, 2024 · 067870b · 067870b
2 parents a2ba766 + c7dafae
commit 067870b
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Showing 3 changed files with 23 additions and 1 deletion.
diff --git a/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -13,7 +13,7 @@
     filter_settings:
       # polygon overlap based filter
       polygon_overlap_filter:
-       enabled: true
+        enabled: true
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false

diff --git a/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : true
       BICYCLE : true
       PEDESTRIAN : true
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+        enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
diff --git a/...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml b/...planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml
@@ -60,3 +60,15 @@
     over_stop_velocity_warn_thr: 1.389       # used to check if the optimization exceeds the input velocity on the stop point
 
     plan_from_ego_speed_on_manual_mode: true  # planning is done from ego velocity/acceleration on MANUAL mode. This should be true for smooth transition from MANUAL to AUTONOMOUS, but could be false for debugging.
+
+    # force acceleration
+    force_acceleration:
+      max_acc: 2.0                            # max longitudinal acceleration in force acceleration mode [m/ss]
+      max_jerk: 5.0                           # max longitudinal jerk in force acceleration mode         [m/sss]
+      max_lateral_acc: 1.0                    # max lateral acceleration in force acceleration mode       [m/ss]
+      engage_velocity: 0.25                   # engage velocity in force acceleration mode               [m/s]
+      engage_acceleration: 0.5                # engage acceleration in force acceleration mode            [m/ss]
+
+    # force slow driving from stopping state
+    force_slow_driving:
+      velocity: 1.39                          # velocity in slow driving mode [m/s]