From 8424227caafaec612007390809a1317f1f9e60c9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 01:22:39 +0900 Subject: [PATCH] feat: use obstacle_cruise_planner by default Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 6 +++--- .../obstacle_cruise_planner.param.yaml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index fa4a2e4308..56e684c302 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -97,9 +97,9 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner - # option: obstacle_stop_planner - # obstacle_cruise_planner + default: obstacle_cruise_planner + # option: obstacle_cruise_planner + # obstacle_stop_planner # none - arg: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 4c9f84d5eb..9bab0cf761 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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]