Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix: remove unnecessary parameters #9935

Merged
merged 1 commit into from
Jan 16, 2025
+6 −15
Merged

fix: remove unnecessary parameters #9935

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 0 additions & 2 deletions control/autoware_pid_longitudinal_controller/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down
2 changes: 0 additions & 2 deletions control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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 --
Expand Down
2 changes: 0 additions & 2 deletions control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
2 changes: 0 additions & 2 deletions ..._velocity_planner/autoware_behavior_velocity_crosswalk_module/config/crosswalk.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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]
Expand Down
13 changes: 6 additions & 7 deletions ...behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down
Loading