fix(planning_launch): parameterize scale for lc safety check #384
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
purewater0901
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…utowarefoundation#384) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…owarefoundation#676) (autowarefoundation#384) * fix(planning_launch): ignore unavoidable objects around the goal Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * Update planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
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…utowarefoundation#384) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
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…utowarefoundation#384) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
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chore: sync awf-latest
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…utowarefoundation#384) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
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Description
Parameterize
longitudinal_velocity_delta_timein the behavior path planner node for safe lane change.RSS check only secure the future distance, therefore, even when RSS logic returns safe, we cannot guarantee that the physical distance between real vehicle is safe. Originally the value is fixed to
0.8but there might be necessity to reduce or increase the value depending on situation.Update the YAML file, the parameter struct, the node constructor, and the safety check function to use the new parameter.
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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