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feat(obstacle_stop_planner): change stop distance after goal #758

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Dec 26, 2023
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feat(obstacle_stop_planner): change stop distance after goal #758

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feat(obstacle_stop/cruise): change stop distance after goal
kosuke55 Dec 26, 2023
6ae9dc0
Update autoware_launch/config/planning/scenario_planning/lane_driving…
kosuke55 Dec 26, 2023
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2 changes: 1 addition & 1 deletion ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -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]
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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]

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2 changes: 1 addition & 1 deletion ...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
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Expand Up @@ -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]

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