From 69556681cb5f23a52d9e205533872307d3d070f2 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Thu, 26 Dec 2024 11:38:53 +0900 Subject: [PATCH 1/3] add parameter for enabling frenet Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 27349f077d..de623a470f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -30,6 +30,10 @@ min_road_shoulder_width: 0.5 # [m] th_parked_vehicle_shift_ratio: 0.6 + # trajectory generation near terminal using frenet planner + frenet: + enable: true + # safety check safety_check: allow_loose_check_for_cancel: true From c27713b0380e80da62f9955e4c8a0838637579d1 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Thu, 26 Dec 2024 14:43:04 +0900 Subject: [PATCH 2/3] parameterized th_yaw_diff Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index de623a470f..2fa57177bd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -33,6 +33,7 @@ # trajectory generation near terminal using frenet planner frenet: enable: true + th_yaw_diff: 10.0 # [deg] # safety check safety_check: From b023bfc8478d7174f1feb0285f37a6a6f8f96fd9 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Thu, 26 Dec 2024 16:38:04 +0900 Subject: [PATCH 3/3] prepare segment curvature threshold Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 2fa57177bd..2173370aaf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -22,6 +22,7 @@ lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 lane_changing_decel_factor: 0.5 + th_prepare_curvature: 0.03 # [/] # delay lane change delay_lane_change: