From 31f268a141ad19ee196a7c134d609d03104c3647 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Tue, 26 Dec 2023 12:00:40 +0900 Subject: [PATCH 1/2] feat(obstacle_stop/cruise): change stop distance after goal Signed-off-by: kosuke55 --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 +- 2 files changed, 2 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 90e897fda3..59102dab0b 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 @@ -13,7 +13,7 @@ min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] - terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] + terminal_safe_distance_margin : 2.5 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index c804cea577..8e215a1bcf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -17,7 +17,7 @@ # params for stop position stop_position: max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] - max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m] + max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m] min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] From 6ae9dc02284f4726fc40bfba21435dde8f5e15f6 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 26 Dec 2023 19:50:37 +0900 Subject: [PATCH 2/2] Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 59102dab0b..90e897fda3 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 @@ -13,7 +13,7 @@ min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] - terminal_safe_distance_margin : 2.5 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] + terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]