Skip to content

feat(autoware_motion_velocity_obstacle_cruise_module): add parameters for obstacle cruise obstacle filter time-varying range #1554

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

Draft
wants to merge 2 commits into
base: main
Choose a base branch
from
Draft

feat(autoware_motion_velocity_obstacle_cruise_module): add parameters for obstacle cruise obstacle filter time-varying range #1554

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
66ef518
feat: add parameters for obstacle cruise filter time varying range
XiaoyuWang0601 Jul 16, 2025
c1ec0a9
Merge branch 'autowarefoundation:main' into feat/add_paramters_for_ob…
XiaoyuWang0601 Aug 20, 2025
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
5 changes: 5 additions & 0 deletions ..._planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_cruise.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,3 +129,8 @@
# hysteresis for cruise and stop
obstacle_velocity_threshold_from_cruise : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
obstacle_velocity_threshold_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]

# Parameters for the calculation of the time-varying obstacle filter range
obstacle_filter_ego_jerk: 0.15 # safe acceleration and deceleration jerk of ego [m/ss]
obstacle_filter_dist_max_range: 120.0 # obstacle distance beyond this value will be omitted [m]
obstacle_filter_dist_min_range: 65.0 # for the sake of safety, obstacle filter distance smaller than this value will be fixed to this value [m]