From c0cf798d48f5b5a4f0fc5adf5cef16f0de7fc0b1 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 4 Feb 2024 15:12:57 +0000 Subject: [PATCH] enable intersection occlusion Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../behavior_velocity_planner/intersection.param.yaml | 2 +- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 3512d722ec..b57696d324 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -97,7 +97,7 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 86bcf801f4..1c8461e80e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -63,7 +63,7 @@ object_time_margin_to_collision_point: 4.0 occlusion: - enable: false + enable: true occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 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 1ac32ba562..1b544e3842 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 @@ -12,7 +12,7 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 5.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]