Merge pull request #224 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Aug 14, 2023 · 266251e · 266251e
2 parents bf28e81 + 975fe46
commit 266251e
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Showing 3 changed files with 18 additions and 7 deletions.
diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -1,7 +1,3 @@
 /**:
   ros__parameters:
-    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM, local
-    latitude: 40.81187906        # Latitude of map_origin, using in UTM
-    longitude: 29.35810110          # Longitude of map_origin, using in UTM
-
     center_line_resolution: 5.0         # [m]
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -175,10 +175,23 @@
         max_distance: 20.0                              # [m]
         stop_buffer: 1.0                                # [m]
 
-      constraints:
-        # vehicle slows down under longitudinal constraints
-        use_constraints_for_decel: true                 # [-]
+      policy:
+        # policy for vehicle slow down behavior. select "best_effort" or "reliable".
+        # "best_effort": slow down deceleration & jerk are limited by constraints.
+        #                but there is a possibility that the vehicle can't stop in front of the vehicle.
+        # "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
+        #             make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
+        deceleration: "best_effort"                     # [-]
+        # policy for avoidance lateral margin. select "best_effort" or "reliable".
+        # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
+        #                margin to avoid.
+        # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid
+        #             with expected lateral margin.
+        lateral_margin: "best_effort"                   # [-]
+        # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.
+        use_shorten_margin_immediately: true            # [-]
 
+      constraints:
         # lateral constraints
         lateral:
           velocity: [1.0, 1.38, 11.1]                   # [m/s]

diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -42,6 +42,8 @@
           max_object_angle: 0.785
 
       drivable_area_generation:
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
+
         lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]