Merge pull request #235 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Sep 4, 2023 · 7b62790 · 7b62790
2 parents dc1aca3 + d5b427a
commit 7b62790
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -21,12 +21,14 @@
           rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
           left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
           right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
+      path_preprocessing:
+        max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
       expansion:
         method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
                          # 'lanelet': add lanelets overlapped by the ego footprints
                          # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
         max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
-        max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
       avoid_linestring:
         types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area

diff --git a/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
@@ -34,6 +34,7 @@
           distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
 
       ego:
+        min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
         extra_front_offset: 0.0 # [m] extra front distance
         extra_rear_offset: 0.0 # [m] extra rear distance
         extra_right_offset: 0.0 # [m] extra right distance