From 35ddf378518ef882f201f0b8e908051d3757a5cb Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Mon, 27 Jan 2025 22:38:25 +0900 Subject: [PATCH] tune params (passing margin enabled) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_planner/run_out.param.yaml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml index dd3fd53ee0..cd08dee20b 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml @@ -5,13 +5,11 @@ stop_off_time_buffer: 2.0 # [s] successive non-collision detection time required to remove a stopping decision ego_time_interval_expansion: 0.0 # [s] time to add to the ego time interval (on both the start and end times) stop_distance_buffer: 2.0 # [m] longitudinal safety distance to keep between ego and the collision position - enable_passing_collisions: true # If true, a collision where ego arrives first is ignored - passing_collisions_time_margin: 0.5 # [s] required time margin to decide a passing_collision collision_time_margin: 0.5 # [s] passing: # ignore collisions if ego passes first and the object is the one that should stop - enable: false # If true, a collision where ego arrives first is ignored - time_margin: 0.5 # [s] margin to decide if ego passes first (higher is more conservative) + enable: true # If true, a collision where ego arrives first is ignored + time_margin: 0.0 # [s] margin to decide if ego passes first (higher is more conservative) disable_within_min_stop_duration: true # if true, collisions are not ignored if happening within the minimum duration required to stop ego comfortably disable_extra_duration_buffer: 1.0 # [s] extra duration