Merge branch 'main' into add-lane-change-parameter

autowarefoundation · Dec 27, 2024 · 948b63a · 948b63a
2 parents 9751978 + fb51904
commit 948b63a
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Showing 5 changed files with 11 additions and 3 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -73,7 +73,7 @@
 
     # slope compensation
     lpf_pitch_gain: 0.95
-    slope_source: "trajectory_adaptive" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive
     adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1
diff --git a/...ption/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/...ption/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
@@ -4,7 +4,8 @@
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15
-    point_project_to_unrectified_image: false
+    # projection setting for each ROI whether unrectify image
+    point_project_to_unrectified_image: [false, false, false, false, false, false]
     debug_mode: false
     filter_scope_min_x: -100.0
     filter_scope_min_y: -100.0
@@ -13,5 +14,11 @@
     filter_scope_max_y: 100.0
     filter_scope_max_z: 100.0
 
+    # camera cache setting for each ROI
+    approximate_camera_projection: [true, true, true, true, true, true]
+    # grid size in pixels
+    approximation_grid_cell_width: 1.0
+    approximation_grid_cell_height: 1.0
+
     # debug parameters
     publish_processing_time_detail: false
diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    external_delay_tolerance: 5.0
     external_time_tolerance: 5.0
     perception_time_tolerance: 1.0
     external_priority: false

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -5,6 +5,7 @@
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
       backward_length_from_intersection: 5.0 # [m]
+      enable_stopped_vehicle_buffer: true
 
       # turn signal
       min_length_for_turn_signal_activation: 10.0 # [m]

diff --git a/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/...anning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -8,5 +8,4 @@
       state_clear_time: 2.0
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
-      enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
       suppress_pass_judge_when_stopping: false