From 3eb6d331ea421563353a01d54d58451c7b6da485 Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Mon, 9 Dec 2024 09:07:38 +0900 Subject: [PATCH 1/4] add flag to enable/disable terminal path feature Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 27349f077d..c5c898ae29 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 @@ -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_terminal_path: true # turn signal min_length_for_turn_signal_activation: 10.0 # [m] From b5d9d99d6da2fad5af2a5d76d6e8199caf4cdc58 Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Tue, 10 Dec 2024 12:06:57 +0900 Subject: [PATCH 2/4] add parameter to cofigure stop point placement Signed-off-by: mohammad alqudah --- .../lane_change/lane_change.param.yaml | 6 +++++- 1 file changed, 5 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 c5c898ae29..6a240e9c66 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 @@ -5,11 +5,15 @@ 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_terminal_path: true # turn signal min_length_for_turn_signal_activation: 10.0 # [m] + # terminal path + terminal_path: + enable: true + stop_at_boundary: true + # trajectory generation trajectory: max_prepare_duration: 4.0 From 8cd18e28f3017fb51b58ed8a51fd1c81c8e6a033 Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Fri, 20 Dec 2024 16:20:50 +0900 Subject: [PATCH 3/4] add flag to disable feature near goal Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 6a240e9c66..bb1f929c4f 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 @@ -12,6 +12,7 @@ # terminal path terminal_path: enable: true + disable_near_goal: true stop_at_boundary: true # trajectory generation From 97519780753ebe7cb6fe9f56b476eb00164a769c Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Mon, 23 Dec 2024 10:20:05 +0900 Subject: [PATCH 4/4] set default flag value to false 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 bb1f929c4f..6c97b44d4f 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 @@ -13,7 +13,7 @@ terminal_path: enable: true disable_near_goal: true - stop_at_boundary: true + stop_at_boundary: false # trajectory generation trajectory: