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fix(avoidance): avoidance shift line processing bug #527

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merged 1 commit into from
Aug 25, 2023
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fix(avoidance): avoidance shift line processing bug #527

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5 changes: 1 addition & 4 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 @@ -4,8 +4,6 @@
avoidance:
resample_interval_for_planning: 0.3 # [m]
resample_interval_for_output: 4.0 # [m]
detection_area_right_expand_dist: 0.0 # [m]
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I checked this change is applied in the parameter file in the file
but is related to this PR?

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@kyoichi-sugahara Thanks for your checking.
I'm sorry fot the confusion. This diff is not related to autowarefoundation/autoware.universe#4731 but is related to autowarefoundation/autoware.universe#4525.

I forgot to remove unused params, and remove them in this PR togather.

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Ok i see 👍
Thanks!

detection_area_left_expand_dist: 1.0 # [m]
drivable_area_right_bound_offset: 0.0 # [m]
drivable_area_left_bound_offset: 0.0 # [m]

Expand Down Expand Up @@ -145,13 +143,12 @@
time_horizon: 10.0 # [s]
safety_check_backward_distance: 100.0 # [m]
safety_check_hysteresis_factor: 2.0 # [-]
safety_check_ego_offset: 1.0 # [m]
# rss parameters
expected_front_deceleration: -1.0 # [m/ss]
expected_rear_deceleration: -1.0 # [m/ss]
rear_vehicle_reaction_time: 2.0 # [s]
rear_vehicle_safety_time_margin: 1.0 # [s]
lateral_distance_max_threshold: 2.0 # [m]
lateral_distance_max_threshold: 0.75 # [m]
longitudinal_distance_min_threshold: 3.0 # [m]
longitudinal_velocity_delta_time: 0.8 # [s]

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