From b23c5f948421037d2bf81dd340015c4b2fd1602c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 20 Feb 2024 20:13:31 +0900 Subject: [PATCH 1/2] feat(goal_planner): change pull over path candidate priority with soft and hard margins (#874) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 66542e1bf1..eea6d0acdc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -35,7 +35,8 @@ # object recognition object_recognition: use_object_recognition: true - object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker + collision_check_soft_margins: [2.0, 1.5, 1.0] + collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 detection_bound_offset: 15.0 From c86e9a2d34b088e5759e94d0800ed4de18b20acc Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Tue, 20 Feb 2024 21:30:20 +0900 Subject: [PATCH 2/2] fix: recovery default parameter (#882) Signed-off-by: Shin-kyoto --- .../detection/lidar_model/pointpainting.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 8ccd469786..3abaffb243 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -26,7 +26,7 @@ iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 - score_threshold: 0.4 + score_threshold: 0.35 omp_params: # omp params num_threads: 1