Merge pull request #217 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tier4 · Aug 1, 2023 · f7d9126 · f7d9126
2 parents f1c84f0 + bd3f372
commit f7d9126
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diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -160,6 +160,7 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
+          remain_buffer_distance: 30.0                  # [m]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]

diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -30,6 +30,9 @@
         stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
         max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
         stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
+        min_acc: -1.0   # min acceleration [m/ss]
+        min_jerk: -1.0  # min jerk [m/sss]
+        max_jerk: 1.0   # max jerk [m/sss]
 
       # param for pass judge logic
       pass_judge: