Skip to content
This repository has been archived by the owner on Mar 27, 2023. It is now read-only.

feat: adds additional configuration flags for behavior_path_planner #171

Merged
merged 3 commits into from
Feb 7, 2022
Merged

feat: adds additional configuration flags for behavior_path_planner #171

merged 3 commits into from
Feb 7, 2022

Commits on Feb 6, 2022

  1. feat: adds additional configuration flags for behavior_path_planner 

    The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher tier4/autoware_launcher#496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Feb 6, 2022
    Configuration menu
    Copy the full SHA
    773f972 View commit details
    Browse the repository at this point in the history

  2. Change lateral_collision_margion to 1.0 to reflect changes. 

    The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Feb 6, 2022
    Configuration menu
    Copy the full SHA
    b4844f2 View commit details
    Browse the repository at this point in the history

Commits on Feb 7, 2022

  1. fix: slightly increase the safety buffer. 

    This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Feb 7, 2022
    Configuration menu
    Copy the full SHA
    1d87a3d View commit details
    Browse the repository at this point in the history