config 3: avoidance at high speed between incoming NPCs

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
maxime-clem · Oct 3, 2024 · a2d1b98 · a2d1b98
1 parent a47a93a
commit a2d1b98
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 4.17           # max velocity limit [m/s]
+    max_vel: 14.17           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:

diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -10,7 +10,7 @@
       # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
       # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
       # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
-      use_lane_type: "current_lane"
+      use_lane_type: "opposite_direction_lane"
       # drivable area setting
       use_intersection_areas: true
       use_hatched_road_markings: true
@@ -23,9 +23,9 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.7                            # [m]
-            hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.2         # [m]
+            soft_margin: 1.0                            # [m]
+            hard_margin: 0.7                            # [m]
+            hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -176,7 +176,7 @@
       safety_check:
         # safety check target type
         target_type:
-          car: true                                     # [-]
+          car: false # [-]
           truck: true                                   # [-]
           bus: true                                     # [-]
           trailer: true                                 # [-]
@@ -291,10 +291,10 @@
       constraints:
         # lateral constraints
         lateral:
-          velocity: [1.39, 4.17, 11.1]                  # [m/s]
-          max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
-          min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
-          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
+          velocity: [1.39, 4.17, 11.1, 15.0]                  # [m/s]
+          max_accel_values: [0.5, 0.5, 0.5, 2.0]             # [m/ss]
+          min_jerk_values: [0.2, 0.2, 0.2, 0.0]              # [m/sss]
+          max_jerk_values: [1.0, 1.0, 1.0, 2.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal: