From 47070cb044eaa68949dfeb3a332b0e0c4440610d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 5 Jul 2023 18:11:36 +0900 Subject: [PATCH 1/2] fix(avoidance): don't output new candidate path if there is huge offset between the ego and previous output path (#431) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 b82282df14..12dc6b9938 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 @@ -127,6 +127,7 @@ safety_check_idling_time: 1.5 # [s] safety_check_accel_for_rss: 2.5 # [m/ss] safety_check_hysteresis_factor: 2.0 # [-] + safety_check_ego_offset: 1.0 # [m] # For avoidance maneuver avoidance: From a6da6845ed32d4055f08fa18015c7adab97588c0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 5 Jul 2023 18:57:03 +0900 Subject: [PATCH 2/2] feat(avoidance): insert slow down speed (#429) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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 12dc6b9938..0acc3c52d1 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 @@ -144,7 +144,9 @@ min_prepare_distance: 1.0 # [m] min_avoidance_distance: 10.0 # [m] min_nominal_avoidance_speed: 7.0 # [m/s] - min_sharp_avoidance_speed: 1.0 # [m/s] + min_sharp_avoidance_speed: 2.78 # [m/s] + min_slow_down_speed: 1.38 # [m/s] + buf_slow_down_speed: 0.56 # [m/s] # For yield maneuver yield: @@ -154,6 +156,7 @@ stop: min_distance: 10.0 # [m] max_distance: 20.0 # [m] + stop_buffer: 1.0 # [m] constraints: # vehicle slows down under longitudinal constraints