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chore: sync awf/autoware_launch #843

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merged 6 commits into from
Mar 9, 2023
Merged

chore: sync awf/autoware_launch #843

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76c8b8d
chore: remove unnecessary sync (#216)
takayuki5168 Mar 6, 2023
4ec410e
feat(planning_evaluator): launch planning_evaluator when scenario sim…
kyoichi-sugahara Mar 7, 2023
22a3d30
feat(pull_out): add config for new framework (#236)
satoshi-ota Mar 7, 2023
737745c
feat(side_shift): add config for new framework (#234)
satoshi-ota Mar 8, 2023
2993008
feat: lengthen safety_check_backward_distance in avoidance module (#241)
tkimura4 Mar 9, 2023
f664f8a
fix(avoidance): increase road shoulder margin 0.0 -> 0.3 (#242)
satoshi-ota Mar 9, 2023
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155 changes: 0 additions & 155 deletions .github/sync-param-files.yaml
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26 changes: 0 additions & 26 deletions .github/workflows/sync-param-files.yaml
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12 changes: 6 additions & 6 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -55,11 +55,11 @@

# For safety check
safety_check:
safety_check_backward_distance: 50.0 # [m]
safety_check_time_horizon: 10.0 # [s]
safety_check_idling_time: 1.5 # [s]
safety_check_accel_for_rss: 2.5 # [m/ss]
safety_check_hysteresis_factor: 2.0 # [-]
safety_check_backward_distance: 100.0 # [m]
safety_check_time_horizon: 10.0 # [s]
safety_check_idling_time: 1.5 # [s]
safety_check_accel_for_rss: 2.5 # [m/ss]
safety_check_hysteresis_factor: 2.0 # [-]

# For avoidance maneuver
avoidance:
Expand All @@ -68,7 +68,7 @@
lateral_collision_margin: 1.0 # [m]
lateral_collision_safety_buffer: 0.7 # [m]
lateral_passable_safety_buffer: 0.0 # [m]
road_shoulder_safety_margin: 0.0 # [m]
road_shoulder_safety_margin: 0.3 # [m]
avoidance_execution_lateral_threshold: 0.499
max_right_shift_length: 5.0
max_left_shift_length: 5.0
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14 changes: 14 additions & 0 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Expand Up @@ -34,3 +34,17 @@

rear_vehicle_reaction_time: 2.0
rear_vehicle_safety_time_margin: 1.0

# USE ONLY WHEN THE OPTION COMPILE_WITH_OLD_ARCHITECTURE IS SET TO FALSE.
# https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/CMakeLists.txt
pull_out:
enable_module: true
enable_simultaneous_execution: false
priority: 1
max_module_size: 1

side_shift:
enable_module: true
enable_simultaneous_execution: false
priority: 0
max_module_size: 1
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