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chore: sync awf-latest #381

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Apr 12, 2024
Merged

chore: sync awf-latest #381

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10 changes: 2 additions & 8 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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

Expand Down Expand Up @@ -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:
Expand Down
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