chore(behavior_velocity): update latest params

[taikitanaka3]

Signed-off-by: tanaka3 [email protected]

PR Type

• Improvement

sync latest universe params

Related Links

• chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check autowarefoundation/autoware.universe#932 (sync)
• feat(behavior_velocity): occlusion spot generate not detection area occupancy grid autowarefoundation/autoware.universe#620 (update)

Description

sync and update to latest universe params

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[0x126]

@taikitanaka3 Some paramters differ from https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_planner/config/occlusion_spot.param.yaml.
I think it should be the same. Can you explain why ?

[taikitanaka3]

@0x126
it is based on the experiment param so I changed here.(sorry some parameters are not yet updated)
https://github.com/tier4/autoware_launch.x2/blob/experiment/v1.0.1_occlusion_spot/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml
here is a parameter to change

        max_slow_down_jerk: -0.3            # [m/s^3] minimum jerk deceleration for safe brake.
        max_slow_down_accel: -1.5           # [m/s^2] minimum accel deceleration for safe brake.
        max_lateral_distance: 5.0        # [m] buffer around the ego path used to build the detection area.
      grid:
        free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
        occupied_min: 57    # [-] minimum value of an occupied cell in the occupancy grid

[taikitanaka3]

and this param is missing while changing to use universe yaml file to autoware_launcher yaml file
https://github.com/autowarefoundation/autoware.universe/blob/93d95dd63a9d84bdca4fd87acb4b200098dd8bf3/planning/behavior_velocity_planner/config/occlusion_spot.param.yaml#L7

[h-ohta]

LGTM for stopline