Merge branch 'awf-latest' into sync-awf-latest

tier4 · Jan 16, 2024 · 5223175 · 5223175
2 parents ec54dd3 + df27790
commit 5223175
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -97,7 +97,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
+      default: obstacle_cruise_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none

diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 20.0      # max velocity limit [m/s]
+    max_velocity: 11.1      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       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]
+      safe_distance_margin : 5.0 # 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]
       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]