From 301dd501b7aa1e8c9d0b607cee94d3002c4a6258 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 22 Jul 2024 17:53:42 +0900 Subject: [PATCH 1/2] feat(out_of_lane): add parameter to ignore objects behind ego (#1062) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_planner/out_of_lane.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml index b13df72409..0646cd07d7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -20,6 +20,7 @@ predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights + ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered From 987c0aa4dcbed40a3baf059ee38667fa5c515236 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Thu, 1 Aug 2024 20:49:08 +0900 Subject: [PATCH 2/2] set parameter to true (ignore behind objects) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_planner/out_of_lane.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml index 0646cd07d7..a4d2ee8c70 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -20,7 +20,7 @@ predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights - ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored + ignore_behind_ego: true # if true, objects behind the ego vehicle are ignored overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered