From 91cc15b2119c9d79062121b475e456c54031a555 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 2 Aug 2024 16:22:28 +0900 Subject: [PATCH 1/3] feat(lane_change): add param for lateral angle deviation (#1087) * RT1-6514 adding lateral angle deviation param Signed-off-by: Zulfaqar Azmi * decrease angle deviation threshold to fix rtc issue Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) 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 d301e96deb..05b3bfd825 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 @@ -6,7 +6,6 @@ backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] - lane_change_finish_judge_buffer: 2.0 # [m] lane_changing_lateral_jerk: 0.5 # [m/s3] @@ -109,7 +108,9 @@ overhang_tolerance: 0.0 # [m] unsafe_hysteresis_threshold: 5 # [/] - finish_judge_lateral_threshold: 0.2 # [m] + lane_change_finish_judge_buffer: 2.0 # [m] + finish_judge_lateral_threshold: 0.1 # [m] + finish_judge_lateral_angle_deviation: 1.0 # [deg] # debug publish_debug_marker: true From b07b8a7640f7b987ac51268256e9677d8e40badf Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 2 Aug 2024 16:49:16 +0900 Subject: [PATCH 2/3] feat(lane_change): use different rss param to deal with parked vehicle (#1104) use separate rss for parked vehicle Signed-off-by: Muhammad Zulfaqar Azmi --- .../lane_change/lane_change.param.yaml | 8 ++++++++ 1 file changed, 8 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 05b3bfd825..29942b6e38 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 @@ -38,6 +38,14 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + parked: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -2.0 + rear_vehicle_reaction_time: 1.0 + rear_vehicle_safety_time_margin: 0.8 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.0 cancel: expected_front_deceleration: -1.0 expected_rear_deceleration: -2.0 From de5dde875fa9262d77cc0ec5b8aa8aa5a0f8a81f Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 13 Aug 2024 10:44:50 +0900 Subject: [PATCH 3/3] fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (#1108) add skip process lon dist diff threshold Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 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 29942b6e38..f40992f354 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 @@ -26,6 +26,11 @@ min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 + skip_process: + longitudinal_distance_diff_threshold: + prepare: 1.0 + lane_changing: 1.0 + # safety check safety_check: allow_loose_check_for_cancel: true