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chore: sync awf-latest #292

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merged 3 commits into from
Jan 25, 2024
Merged

chore: sync awf-latest #292

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b58eff2
fix(ndt_scan_matcher): fix type of critical_upper_bound_exe_time_ms (…
YamatoAndo Jan 25, 2024
3e4dc24
feat(start_planner): change collision_check_distance_from_end to shor…
kosuke55 Jan 25, 2024
7df85a8
feat(crosswalk)!: improve stuck prevention on crosswalk (#816)
yuki-takagi-66 Jan 25, 2024
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6 changes: 3 additions & 3 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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Expand Up @@ -54,6 +54,9 @@
# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
initial_pose_distance_tolerance_m: 10.0

# The execution time which means probably NDT cannot matches scans properly. [ms]
critical_upper_bound_exe_time_ms: 100.0

# Number of threads used for parallel computing
num_threads: 4

Expand Down Expand Up @@ -98,6 +101,3 @@

# If lidar_point.z - base_link.z <= this threshold , the point will be removed
z_margin_for_ground_removal: 0.8

# The execution time which means probably NDT cannot matches scans properly. [ms]
critical_upper_bound_exe_time_ms: 100
2 changes: 1 addition & 1 deletion ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -6,7 +6,7 @@
th_stopped_velocity: 0.01
th_stopped_time: 1.0
collision_check_margins: [2.0, 1.0, 0.5, 0.1]
collision_check_distance_from_end: 1.0
collision_check_distance_from_end: -10.0
collision_check_margin_from_front_object: 5.0
th_moving_object_velocity: 1.0
th_distance_to_middle_of_the_road: 0.5
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2 changes: 1 addition & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -30,7 +30,7 @@
enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
required_clearance: 6.0 # [m] clearance to be secured between the ego and the ahead vehicle
min_acc: -1.0 # min acceleration [m/ss]
min_jerk: -1.0 # min jerk [m/sss]
max_jerk: 1.0 # max jerk [m/sss]
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