update

Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Feb 7, 2024 · fea3667 · fea3667
1 parent c564a6e
commit fea3667
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_avoidance_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations
@@ -100,7 +100,7 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_cruise_planner
+      default: obstacle_stop_planner
       # option: obstacle_stop_planner
       #         obstacle_cruise_planner
       #         none
@@ -115,7 +115,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "true"
+      default: "false"
 
   # parking modules
   - arg:

diff --git a/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/...ing/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # motion state constraints
-    max_velocity: 11.1      # max velocity limit [m/s]
+    max_velocity: 20.0      # max velocity limit [m/s]
     stop_decel: 0.0         # deceleration at a stop point[m/ss]
 
     # external velocity limit parameter

diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug:

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]