From 9a22efb40b690cf7465f71e63368354f431ebb57 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 29 Mar 2024 16:46:28 +0900 Subject: [PATCH 1/2] feat(dynamic_obstacle_stop): split the duration buffer parameter in 2 (add/remove) (#933) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/dynamic_obstacle_stop.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml index c18de5bd53..ac95cd75c8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -6,6 +6,7 @@ stop_distance_buffer: 0.5 # [m] extra distance to add between the stop point and the collision point time_horizon: 5.0 # [s] time horizon used for collision checks hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection - decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled + add_stop_duration_buffer : 0.5 # [s] duration where a collision must be continuously detected before a stop decision is added + remove_stop_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being remove minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight) From 218da846878db43b93925a476de3cd8190129770 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 29 Mar 2024 21:05:28 +0900 Subject: [PATCH 2/2] feat(crosswalk): rename parameter to ignore traffic light (#919) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/crosswalk.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index ac18c935dd..8c98838fdb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -78,7 +78,7 @@ min_size: 1.0 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid - ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored + ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored ignore_velocity_thresholds: default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity