Merge pull request autowarefoundation#834 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Mar 4, 2023 · ef184c4 · ef184c4
2 parents 7200338 + 08dd5b5
commit ef184c4
Showing 1 changed file with 32 additions and 1 deletion.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -9,7 +9,7 @@
       pull_over_minimum_velocity: 1.38
       margin_from_boundary: 0.5
       decide_path_distance: 10.0
-      maximum_deceleration: 1.0
+      maximum_deceleration: 0.5
       # goal research
       enable_goal_research: true
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
@@ -36,6 +36,37 @@
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0
       after_pull_over_straight_distance: 1.0
+      # freespace parking
+      enable_freespace_parking: true
+      freespace_parking:
+        planning_algorithm: "astar"  # options: astar, rrtstar
+        velocity: 1.0
+        vehicle_shape_margin: 1.0
+        time_limit: 3000.0
+        minimum_turning_radius: 5.0
+        maximum_turning_radius: 5.0
+        turning_radius_size: 1
+        # search configs
+        theta_size: 144
+        angle_goal_range: 6.0
+        curve_weight: 1.2
+        reverse_weight: 1.0
+        lateral_goal_range: 0.5
+        longitudinal_goal_range: 2.0
+        # costmap configs
+        obstacle_threshold: 30
+        # -- A* search Configurations --
+        astar:
+          only_behind_solutions: false
+          use_back: false
+          distance_heuristic_weight: 1.0
+        # -- RRT* search Configurations --
+        rrtstar:
+          enable_update: true
+          use_informed_sampling: true
+          max_planning_time: 150.0
+          neighbor_radius: 8.0
+          margin: 1.0
       # parallel parking path
       enable_arc_forward_parking: true
       enable_arc_backward_parking: true