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refactor(obstacle_cruise_planner): rework parameters #7372

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4 changes: 4 additions & 0 deletions planning/autoware_obstacle_cruise_planner/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,10 @@ struct Obstacle
};
```

### Parameters

{{ json_to_markdown("planning/obstacle_cruise_planner/schema/obstacle_cruise_planner.schema.json") }}

### Behavior determination against obstacles

Obstacles for cruising, stopping and slowing down are selected in this order based on their pose and velocity.
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Original file line number Diff line number Diff line change
Expand Up @@ -19,3 +19,7 @@
max_acc: 1.0 # max acceleration limit [m/ss]
min_jerk: -1.5 # min jerk limit [m/sss]
max_jerk: 1.5 # max jerk limit [m/sss]

# threadhold for ego position
ego_nearest_dist_threshold: 1.0
ego_nearest_yaw_threshold: 5.0
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,9 @@
<!-- vehicle info param -->
<arg name="vehicle_info_param_path" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>

<!-- default common param -->
<arg name="default_common_param_path" default="$(find-pkg-share autoware_obstacle_cruise_planner)/config/default_common.param.yaml"/>

<!-- input -->
<arg name="input_trajectory" default="/planning/scenario_planning/lane_driving/trajectory"/>
<arg name="input_odometry" default="/localization/kinematic_state"/>
Expand All @@ -21,6 +24,7 @@
<!-- param -->
<param from="$(var obstacle_cruise_planner_param_path)"/>
<param from="$(var vehicle_info_param_path)"/>
<param from="$(var default_common_param_path)"/>

<!-- input -->
<remap from="~/input/trajectory" to="$(var input_trajectory)"/>
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