From bdbb3e8b3f3c33f2cbe0beb6216684001cd0a0ad Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 6 Jun 2023 01:53:10 +0900 Subject: [PATCH] feat(autoware_launch): suppress flickering to entry slow down (#382) Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 6f42fab75a..4cdca04bb7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -96,6 +96,9 @@ max_lat_margin: 1.1 # lateral margin between obstacle and trajectory band with ego's width lat_hysteresis_margin: 0.2 + successive_num_to_entry_slow_down_condition: 5 + successive_num_to_exit_slow_down_condition: 5 + cruise: pid_based_planner: use_velocity_limit_based_planner: true