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fix(autoware_launch): improve stop decision in out_of_lane
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Signed-off-by: Takayuki Murooka <[email protected]>
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takayuki5168 committed Sep 25, 2023
1 parent 87aeade commit 71f254b
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action: # action to insert in the path if an object causes a conflict at an overlap
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego
# if false, ego stops just before entering a lane but may then be overlapping another lane.
precision: 0.1 # [m] precision when inserting a stop pose in the path
distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
slowdown:
distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
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distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap

ego:
min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
extra_front_offset: 0.0 # [m] extra front distance
extra_rear_offset: 0.0 # [m] extra rear distance
extra_right_offset: 0.0 # [m] extra right distance
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