From eadd164483e9b4deab7871feadcc2e3a71b1f919 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 6 Jul 2023 11:51:08 +0900 Subject: [PATCH] feat(avoidance): use improved path shifting logic Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index a9b96abcd8..57215d3abb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -164,18 +164,17 @@ # lateral constraints lateral: - nominal_lateral_jerk: 0.2 # [m/s3] - max_lateral_jerk: 1.0 # [m/s3] + nominal_lateral_jerk: 0.2 # [m/sss] + max_lateral_jerk: 1.0 # [m/sss] + max_lateral_acceleration: 0.5 # [m/ss] # longitudinal constraints longitudinal: nominal_deceleration: -1.0 # [m/ss] nominal_jerk: 0.5 # [m/sss] max_deceleration: -2.0 # [m/ss] - max_jerk: 1.0 - # For prevention of large acceleration while avoidance - min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] - max_avoidance_acceleration: 0.5 # [m/ss] + max_jerk: 1.0 # [m/sss] + max_acceleration: 1.0 # [m/ss] target_velocity_matrix: col_size: 2