From d66fb9e6145c6b8e59df42eed0facb407d9c83fa Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 28 Jan 2025 18:11:20 +0900 Subject: [PATCH] feat(goal_planner): introduce bezier based pullover for bus stop area (#1308) Signed-off-by: Mamoru Sobue --- .../goal_planner/goal_planner.param.yaml | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 723e34e61a..95b2095f87 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -25,8 +25,8 @@ high_curvature_threshold: 0.1 bus_stop_area: use_bus_stop_area: false - goal_search_interval: 0.5 - lateral_offset_interval: 0.25 + goal_search_interval: 0.75 + lateral_offset_interval: 0.3 # occupancy grid map occupancy_grid: @@ -52,6 +52,7 @@ # pull over pull_over: minimum_request_length: 0.0 + pull_over_prepare_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 @@ -130,6 +131,10 @@ neighbor_radius: 8.0 margin: 1.0 + bezier_parking: + pull_over_angle_threshold: 0.5 + after_shift_straight_distance: 1.5 + stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0