From c512dfa835dace22e9e579268e0c258fcf4bb8dc Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Sat, 26 Oct 2024 14:06:16 +0900 Subject: [PATCH 1/3] add minimum prepare duration parameter Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 380fe6281e..51fff4cff8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -2,7 +2,8 @@ ros__parameters: lane_change: backward_lane_length: 200.0 #[m] - prepare_duration: 4.0 # [s] + max_prepare_duration: 4.0 #[s] + min_prepare_duration: 0.2 #[s] backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] From cec1dcb3baa3c123e8e795d600d076146c79b43e Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Wed, 6 Nov 2024 09:36:07 +0900 Subject: [PATCH 2/3] increase min_prepare_duration to 1.0 s Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 51fff4cff8..be34d889e1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -3,7 +3,7 @@ lane_change: backward_lane_length: 200.0 #[m] max_prepare_duration: 4.0 #[s] - min_prepare_duration: 0.2 #[s] + min_prepare_duration: 1.0 #[s] backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] From a7e37061d3517166332e44cd703fbd001df6200d Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Fri, 29 Nov 2024 16:47:22 +0900 Subject: [PATCH 3/3] increase min prepare duration value, add new parameter Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 2d576e4918..27349f077d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -11,8 +11,8 @@ # trajectory generation trajectory: - max_prepare_duration: 4.0 #[s] - min_prepare_duration: 1.0 #[s] + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 lateral_jerk: 0.5 min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 @@ -21,6 +21,7 @@ min_lane_changing_velocity: 2.78 lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 # delay lane change delay_lane_change: