From daf5d3bc4ad133b65f237abc4147b52ee784114b Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Wed, 25 Sep 2024 05:01:30 +0300 Subject: [PATCH] add deceleration rate for pedestrians and bicycles --- .../obstacle_cruise_planner.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) 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 3f7b2b1cab..eb5bc42313 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 @@ -47,8 +47,8 @@ bus: true trailer: true motorcycle: true - bicycle: false - pedestrian: false + bicycle: true + pedestrian: true cruise_obstacle_type: inside: @@ -114,6 +114,8 @@ outside_obstacle: max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s] num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego + pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss] + bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss] crossing_obstacle: collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]