Merge pull request #545 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
autowarefoundation · Jul 7, 2023 · 1a3cd22 · 1a3cd22
2 parents 180f5fb + d0190ca
commit 1a3cd22
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Showing 3 changed files with 8 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -129,6 +129,7 @@
         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:
@@ -145,7 +146,9 @@
           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:
@@ -155,6 +158,7 @@
       stop:
         min_distance: 10.0                              # [m]
         max_distance: 20.0                              # [m]
+        stop_buffer: 1.0                                # [m]
 
       constraints:
         # vehicle slows down under longitudinal constraints

diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,6 +16,8 @@
 
         successive_num_to_entry_dynamic_avoidance_condition: 5
 
+        min_obj_lat_offset_to_ego_path: 0.3 # [m]
+
       drivable_area_generation:
         lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -11,7 +11,7 @@
         stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection
         use_intersection_area: false
         path_interpolation_ds: 0.1 # [m]
-
+        consider_wrong_direction_vehicle: false
       stuck_vehicle:
         use_stuck_stopline: true # stopline generated before the first conflicting area
         stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.