fix: remove unnecessary parameters

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jan 16, 2025 · 1f675d2 · 1f675d2
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Showing 5 changed files with 6 additions and 15 deletions.
diff --git a/control/autoware_pid_longitudinal_controller/README.md b/control/autoware_pid_longitudinal_controller/README.md
@@ -195,8 +195,6 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 | stopped_state_entry_vel             | double | threshold of the ego velocity in transition to the STOPPED state [m/s]                                                                                               | 0.01          |
 | stopped_state_entry_acc             | double | threshold of the ego acceleration in transition to the STOPPED state [m/s^2]                                                                                         | 0.1           |
 | emergency_state_overshoot_stop_dist | double | If `enable_overshoot_emergency` is true and the ego is `emergency_state_overshoot_stop_dist`-meter ahead of the stop point, the state will transit to EMERGENCY. [m] | 1.5           |
-| emergency_state_traj_trans_dev      | double | If the ego's position is `emergency_state_traj_tran_dev` meter away from the nearest trajectory point, the state will transit to EMERGENCY. [m]                      | 3.0           |
-| emergency_state_traj_rot_dev        | double | If the ego's orientation is `emergency_state_traj_rot_dev` rad away from the nearest trajectory point orientation, the state will transit to EMERGENCY. [rad]        | 0.784         |
 
 ### DRIVE Parameter
 

diff --git a/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml b/control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml
@@ -3,8 +3,6 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
-    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
-    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --

diff --git a/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml
@@ -16,8 +16,6 @@
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
-    emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7854
 
     # drive state
     kp: 1.0

diff --git a/..._velocity_planner/autoware_behavior_velocity_crosswalk_module/config/crosswalk.param.yaml b/..._velocity_planner/autoware_behavior_velocity_crosswalk_module/config/crosswalk.param.yaml
@@ -13,8 +13,6 @@
 
         # For the Lanelet2 map with no explicit stop lines
         stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
-        # For the case where the crosswalk width is very wide
-        far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
         stop_distance_from_object_preferred: 3.0 # [m]
         stop_distance_from_object_limit: 3.0 # [m]

diff --git a/...behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/README.md b/...behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/README.md
@@ -12,13 +12,12 @@ This module is activated when there is a stop line in a target lane.
 
 ## Module Parameters
 
-| Parameter                        | Type   | Description                                                                                                                                                                       |
-| -------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `stop_margin`                    | double | Margin that the vehicle tries to stop in before stop_line                                                                                                                         |
-| `stop_duration_sec`              | double | [s] Time parameter for the ego vehicle to stop before stop line                                                                                                                   |
-| `hold_stop_margin_distance`      | double | [m] Parameter for restart prevention (See Algorithm section). Also, when the ego vehicle is within this distance from a stop line, the ego state becomes STOPPED from APPROACHING |
-| `use_initialization_stop_state`  | bool   | Flag to determine whether to return to the approaching state when the vehicle moves away from a stop line.                                                                        |
-| `show_stop_line_collision_check` | bool   | Flag to determine whether to show the debug information of collision check with a stop line                                                                                       |
+| Parameter                       | Type   | Description                                                                                                                                                                       |
+| ------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `stop_margin`                   | double | Margin that the vehicle tries to stop in before stop_line                                                                                                                         |
+| `stop_duration_sec`             | double | [s] Time parameter for the ego vehicle to stop before stop line                                                                                                                   |
+| `hold_stop_margin_distance`     | double | [m] Parameter for restart prevention (See Algorithm section). Also, when the ego vehicle is within this distance from a stop line, the ego state becomes STOPPED from APPROACHING |
+| `use_initialization_stop_state` | bool   | Flag to determine whether to return to the approaching state when the vehicle moves away from a stop line.                                                                        |
 
 ## Inner-workings / Algorithms