From 99d6aed5eab009549ee105012750aa7fe05aee89 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 12 Jul 2023 20:58:58 +0900 Subject: [PATCH 1/4] add param for curvature shift start Signed-off-by: Takamasa Horibe --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index fe98d7aa2a..78bb459e99 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -15,6 +15,7 @@ lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 + maximum_curvature: 0.01 # geometric pull out enable_geometric_pull_out: true divide_pull_out_path: false From 76b4c8fab8e2338fe2cba62a5b0f78d4cc6563e3 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 12 Jul 2023 23:28:11 +0900 Subject: [PATCH 2/4] update Signed-off-by: Takamasa Horibe --- .../start_planner/start_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/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 78bb459e99..db788df793 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -15,7 +15,7 @@ lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 - maximum_curvature: 0.01 + maximum_curvature: 0.03 # geometric pull out enable_geometric_pull_out: true divide_pull_out_path: false From b6c148818143af66a88cb001c6086674ed2e3322 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 13 Jul 2023 13:03:53 +0900 Subject: [PATCH 3/4] change param Signed-off-by: Takamasa Horibe --- .../start_planner/start_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/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index db788df793..f3288183cd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -15,7 +15,7 @@ lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 - maximum_curvature: 0.03 + maximum_curvature: 0.06 # geometric pull out enable_geometric_pull_out: true divide_pull_out_path: false From bcd50c11cbea33e91a42f3a4e63d5bb7d7e2e624 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Thu, 13 Jul 2023 16:50:53 +0900 Subject: [PATCH 4/4] maximum_curvature: 0.07 Signed-off-by: kosuke55 --- .../start_planner/start_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/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index f3288183cd..5ae5c99ff8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -15,7 +15,7 @@ lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 - maximum_curvature: 0.06 + maximum_curvature: 0.07 # geometric pull out enable_geometric_pull_out: true divide_pull_out_path: false