From b229f57b138ac928cd80a0b6cf833003d648faf5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 24 Apr 2023 02:19:35 +0900 Subject: [PATCH] feat(obstacle_avoidance_planner): replan when forward path shape changes (#309) * feat(obstacle_avoidance_planner): replan when forward path shape changes Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 3dc7609e38..01a8dfb483 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -23,6 +23,8 @@ # replanning & trimming trajectory param outside algorithm replan: max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m] + max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m] + max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m] max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m] # make max_goal_moving_dist long to keep start point fixed for pull over max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]