From bbb17fed5dc5cfe3b8cce1133ca67506c88a8b8f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Dec 2023 17:44:31 +0900 Subject: [PATCH] feat: run_out does not plan to stop when there is enough time for stopping Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/run_out.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index ccd263bf3a..86bcf34382 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -4,7 +4,7 @@ detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points use_partition_lanelet: true # [-] whether to use partition lanelet map data suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet: - specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates + specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles