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chore: sync awf/autoware_launch #211

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merged 3 commits into from
Jul 24, 2023
Merged

chore: sync awf/autoware_launch #211

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7bffc83
feat(avoidance): flexible avoidance path generation (#454)
satoshi-ota Jul 21, 2023
94ffca2
refactor(avoidance): parameterize magic number (#426)
satoshi-ota Jul 22, 2023
732bd5d
feat(behavior_velocity_planner): add flag to enable auto mode without…
kyoichi-sugahara Jul 22, 2023
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13 changes: 6 additions & 7 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Expand Up @@ -138,26 +138,24 @@
lateral:
lateral_execution_threshold: 0.09 # [m]
lateral_small_shift_threshold: 0.101 # [m]
lateral_avoid_check_threshold: 0.1 # [m]
road_shoulder_safety_margin: 0.3 # [m]
max_right_shift_length: 5.0
max_left_shift_length: 5.0
# avoidance distance parameters
longitudinal:
prepare_time: 2.0 # [s]
min_prepare_distance: 1.0 # [m]
min_avoidance_distance: 10.0 # [m]
min_nominal_avoidance_speed: 7.0 # [m/s]
min_sharp_avoidance_speed: 2.78 # [m/s]
min_slow_down_speed: 1.38 # [m/s]
buf_slow_down_speed: 0.56 # [m/s]
nominal_avoidance_speed: 8.33 # [m/s]

# For yield maneuver
yield:
yield_velocity: 2.78 # [m/s]

# For stop maneuver
stop:
min_distance: 10.0 # [m]
max_distance: 20.0 # [m]
stop_buffer: 1.0 # [m]

Expand All @@ -167,9 +165,10 @@

# lateral constraints
lateral:
nominal_lateral_jerk: 0.2 # [m/sss]
max_lateral_jerk: 1.0 # [m/sss]
max_lateral_acceleration: 0.5 # [m/ss]
velocity: [1.0, 1.38, 11.1] # [m/s]
max_accel_values: [0.5, 0.5, 0.5] # [m/ss]
min_jerk_values: [0.2, 0.2, 0.2] # [m/sss]
max_jerk_values: [1.0, 1.0, 1.0] # [m/sss]

# longitudinal constraints
longitudinal:
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1 change: 1 addition & 0 deletions ...o_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
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Expand Up @@ -8,3 +8,4 @@
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
1 change: 1 addition & 0 deletions ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -5,6 +5,7 @@
show_processing_time: false # [-] whether to show processing time
# param for input data
traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

# param for stop position
stop_position:
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1 change: 1 addition & 0 deletions ...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
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Expand Up @@ -8,3 +8,4 @@
state_clear_time: 2.0
hold_stop_margin_distance: 0.0
distance_to_judge_over_stop_line: 0.5
enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
4 changes: 4 additions & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -48,5 +48,9 @@
denoise_kernel: 1.0 # [m]
pub_debug_grid: false

enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
intersection_to_occlusion: true

merge_from_private:
stop_duration_sec: 1.0
1 change: 1 addition & 0 deletions ...ning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
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Expand Up @@ -8,3 +8,4 @@
stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area
detection_area_length: 200.0 # [m] used to create detection area polygon
stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)
enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
1 change: 1 addition & 0 deletions ...lanning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
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Expand Up @@ -5,3 +5,4 @@
tl_state_timeout: 1.0
yellow_lamp_period: 2.75
enable_pass_judge: true
enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval