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chore: sync awf-latest #606

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merged 2 commits into from
Sep 20, 2024
Merged

chore: sync awf-latest #606

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a8e335c
fix(avoidance_by_lane_change): remove unused parameter (#1176)
go-sakayori Sep 20, 2024
4288f79
feat(lane_change): add lane change parameter (#1157)
mkquda Sep 20, 2024
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8 changes: 0 additions & 8 deletions ...anning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@
# avoidance is performed for the object type with true
target_object:
car:
execute_num: 2 # [-]
th_moving_speed: 1.0 # [m/s]
th_moving_time: 1.0 # [s]
max_expand_ratio: 0.0 # [-]
Expand All @@ -17,7 +16,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
truck:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -27,7 +25,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bus:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -37,7 +34,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
trailer:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -47,7 +43,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
unknown:
execute_num: 1
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -57,7 +52,6 @@
hard_margin: 0.0 # [m]
hard_margin_for_parked_vehicle: 0.0 # [m]
bicycle:
execute_num: 2
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -67,7 +61,6 @@
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
motorcycle:
execute_num: 2
th_moving_speed: 1.0 # 3.6km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
Expand All @@ -77,7 +70,6 @@
hard_margin: 1.0 # [m]
hard_margin_for_parked_vehicle: 1.0 # [m]
pedestrian:
execute_num: 2
th_moving_speed: 0.28 # 1.0km/h
th_moving_time: 1.0
max_expand_ratio: 0.0
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1 change: 1 addition & 0 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
# safety check
safety_check:
allow_loose_check_for_cancel: true
enable_target_lane_bound_check: true
collision_check_yaw_diff_threshold: 3.1416
execution:
expected_front_deceleration: -1.0
Expand Down
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