From 55009f3cc06ac254c1e2093b8fc1f95e86690922 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 12 Apr 2024 15:36:28 +0900 Subject: [PATCH] refactor(avoidance): unify redundant parameters (#953) refactor(avoidance): remove unused parameters Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 92f533bc63..5d6044df64 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -28,7 +28,6 @@ hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -39,7 +38,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true bus: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -50,7 +48,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true trailer: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -61,7 +58,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true unknown: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -72,7 +68,6 @@ hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - use_conservative_buffer_longitudinal: true bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -83,7 +78,6 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 @@ -94,7 +88,6 @@ hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -105,7 +98,6 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER @@ -222,6 +214,8 @@ min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER + consider_front_overhang: true # [-] + consider_rear_overhang: true # [-] # return dead line return_dead_line: goal: