From 31c692a92dcb6c1e9d5ad1b7f1e6378662dc6a35 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Fri, 20 Jan 2023 12:35:23 +0900 Subject: [PATCH 1/2] fix(lane_change): fix default abort param Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/behavior_path_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 055cec3acb..3e70681dbd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -27,8 +27,8 @@ expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 - expected_front_deceleration_for_abort: -2.0 - expected_rear_deceleration_for_abort: -2.5 + expected_front_deceleration_for_abort: -1.0 + expected_rear_deceleration_for_abort: -2.0 rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 From c1e16823bbff54cc078e4d097c8e0716dd7847d8 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Fri, 20 Jan 2023 12:45:45 +0900 Subject: [PATCH 2/2] revert safety time margin Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/behavior_path_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 3e70681dbd..7a6bd05976 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -31,4 +31,4 @@ expected_rear_deceleration_for_abort: -2.0 rear_vehicle_reaction_time: 2.0 - rear_vehicle_safety_time_margin: 1.0 + rear_vehicle_safety_time_margin: 2.0