diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 92844c61f6..191e894622 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -15,6 +15,8 @@ nominal: vel_lim: 25.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [5.0, 4.0] lon_jerk_lim: [5.0, 4.0] lat_acc_lim: [5.0, 4.0] @@ -23,6 +25,8 @@ on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] + steer_lim: [1.0, 0.8] + steer_rate_lim: [1.0, 0.8] lon_acc_lim: [1.0, 0.9] lon_jerk_lim: [0.5, 0.4] lat_acc_lim: [2.0, 1.8] diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 3a99927b41..2785938d5e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -6,6 +6,9 @@ # Vehicle reference frame base_frame: "base_link" + # NDT reference frame + ndt_base_frame: "ndt_base_link" + # Subscriber queue size input_sensor_points_queue_size: 1 @@ -46,10 +49,6 @@ # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 - # neighborhood search method - # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 - neighborhood_search_method: 0 - # Number of threads used for parallel computing num_threads: 4 @@ -80,6 +79,7 @@ # Radius of input LiDAR range (used for diagnostics of dynamic map loading) lidar_radius: 100.0 + # cspell: ignore degrounded # A flag for using scan matching score based on de-grounded LiDAR scan estimate_scores_for_degrounded_scan: false diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 1d0f47b261..235c76a5c1 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -7,13 +7,21 @@ # external velocity limit parameter margin_to_insert_external_velocity_limit: 0.3 # margin distance to insert external velocity limit [m] - # curve parameters + # -- curve parameters -- + # common parameters + curvature_calculation_distance: 5.0 # distance of points while curvature is calculating for the steer rate and lateral acceleration limit [m] + # lateral acceleration limit parameters enable_lateral_acc_limit: true # To toggle the lateral acc filter on and off. You can switch it dynamically at runtime. max_lateral_accel: 1.0 # max lateral acceleration limit [m/ss] min_curve_velocity: 2.74 # min velocity at lateral acceleration limit and steering angle rate limit [m/s] decel_distance_before_curve: 3.5 # slow speed distance before a curve for lateral acceleration limit decel_distance_after_curve: 2.0 # slow speed distance after a curve for lateral acceleration limit min_decel_for_lateral_acc_lim_filter: -2.5 # deceleration limit applied in the lateral acceleration filter to avoid sudden braking [m/ss] + # steering angle rate limit parameters + enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. + max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + resample_ds: 0.1 # distance between trajectory points [m] + curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] # engage & replan parameters replan_vel_deviation: 5.53 # velocity deviation to replan initial velocity [m/s] @@ -49,13 +57,6 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] - # steering angle rate limit parameters - enable_steering_rate_limit: true # To toggle the steer rate filter on and off. You can switch it dynamically at runtime. - max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] - resample_ds: 0.1 # distance between trajectory points [m] - curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] - curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m] - # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 0c11077ea6..70dd904863 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -5,6 +5,7 @@ th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 2.0 # It must be greater than the state_machine's. + center_line_path_interval: 1.0 # goal search goal_search: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 372ed9041c..7e58a27e28 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -62,6 +62,11 @@ check_objects_on_other_lanes: true use_all_predicted_path: true + # lane change regulations + regulation: + crosswalk: false + intersection: false + # lane change cancel cancel: enable_on_prepare_phase: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 4fa1c09958..352a0bf350 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,8 @@ collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 th_moving_object_velocity: 1.0 + th_distance_to_middle_of_the_road: 0.1 + center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true check_shift_path_lane_departure: false