From 198f929dd6e0585335d38cbcecd30f2891513743 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 09:39:09 +0900 Subject: [PATCH] feat(avoidance): check if the avoidance path is in drivable area (#584) * feat(avoidance): check if the avoidance path is in drivable area Signed-off-by: satoshi-ota * refactor(avoidance): remove unused param Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 5f80c76111..40f10f4805 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -169,6 +169,7 @@ hard_road_shoulder_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 + max_deviation_from_lane: 0.5 # [m] # avoidance distance parameters longitudinal: prepare_time: 2.0 # [s] @@ -219,12 +220,6 @@ max_jerk: 1.0 # [m/sss] max_acceleration: 1.0 # [m/ss] - target_velocity_matrix: - col_size: 2 - matrix: - [2.78, 13.9, # velocity [m/s] - 0.50, 1.00] # margin [m] - shift_line_pipeline: trim: quantize_filter_threshold: 0.1