From 99150686398ceb5eb9a2db3045a0f8878e5cd72b Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 14 Sep 2023 13:05:47 +0900 Subject: [PATCH] feat: add parameters for the feature "cosider-current-ego-pose" Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index b71c2d667c..ad4003ec44 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -102,6 +102,13 @@ successive_num_to_entry_slow_down_condition: 5 successive_num_to_exit_slow_down_condition: 5 + # consider the current ego pose (it is not the nearest pose on the reference trajectory) + # Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence" + # Both decreasing rates against the time are constant. + consider_current_pose: + enable_to_consider_current_pose: true + time_to_convergence: 1.5 #[s] + cruise: pid_based_planner: use_velocity_limit_based_planner: true