From 436ec9f3090e52ad2fbf93855dd22755486fd2a6 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 3 Oct 2023 18:14:30 +0900 Subject: [PATCH] refactor(avoidance): use safety check parameter struct Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) 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 c91ec0e88b..5f80c76111 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 @@ -139,12 +139,16 @@ check_other_object: true # [-] # collision check parameters check_all_predicted_path: false # [-] - time_resolution: 0.5 # [s] - time_horizon_for_front_object: 3.0 # [s] - time_horizon_for_rear_object: 10.0 # [s] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] hysteresis_factor_safe_count: 10 # [-] + # predicted path parameters + min_velocity: 1.38 # [m/s] + max_velocity: 50.0 # [m/s] + time_resolution: 0.5 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] + delay_until_departure: 0.0 # [s] # rss parameters expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss]