feat(goal_planner): loosen safety check to prevent unnecessary stop #1231
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Signed-off-by: kosuke55 <[email protected]>
kosuke55
requested review from
takayuki5168,
rej55,
satoshi-ota,
shmpwk,
danielsanchezaran,
kyoichi-sugahara,
zulfaqar-azmi-t4,
go-sakayori,
mkquda,
maxime-clem,
soblin,
yhisaki and
yuki-takagi-66
as code owners
kosuke55
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Nov 27, 2024
…utowarefoundation#1231) Signed-off-by: kosuke55 <[email protected]>
Merged
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shmpwk
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to tier4/autoware_launch
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Nov 27, 2024
#691) feat(goal_planner): loosen safety check to prevent unnecessary stop (autowarefoundation#1231) Signed-off-by: kosuke55 <[email protected]>
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Description
The safety check parameter is very conservative, causing unnecessary deceleration and inconvenience to following vehicles.
In this PR, the parameter was tuned based on an actual drving rosbag.
tier4 internal ticket: https://tier4.atlassian.net/browse/RT1-8296
Tests performed
psim + perceptiojn reproducer
before
RT1-8296_1feddd62-ce45-41ee-bed6-3dcdb06ccc8e_2024-10-07-15-33-02_p0900_9-2024-11-11_20.32.14.mp4
after
RT1-8296_1feddd62-ce45-41ee-bed6-3dcdb06ccc8e_2024-10-07-15-33-02_p0900_9-2024-11-11_21.11.02.mp4
2024/11/14 https://evaluation.tier4.jp/evaluation/reports/f4e6c6bc-5a98-5bb2-985f-64efce6ff0a6/?project_id=prd_jt
Effects on system behavior
Not applicable.
Interface changes
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