feat(boundary_departure): configurable departure points and type base…#2274
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TaikiYamada4 merged 2 commits intobeta/v0.48from Aug 5, 2025
Merged
feat(boundary_departure): configurable departure points and type base…#2274TaikiYamada4 merged 2 commits intobeta/v0.48from
TaikiYamada4 merged 2 commits intobeta/v0.48from
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…d on time (autowarefoundation#11073) * feat(boundary_departure): configurable departure points and type based on time Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/motion_velocity_planner/autoware_motion_velocity_boundary_departure_prevention_module/src/utils.hpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * move out is_departure_persist Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * cutoff time based on decel Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactoring Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactoring Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
zulfaqar-azmi-t4
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Kotakku,
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TaikiYamada4
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Aug 5, 2025
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Currently ego's predicted path is used as is, and all departure points and critical departure points are accepted as is. This has caused a lot of false positive to occur especially when path chatters.
This PR provides two configurable option:
Launcher: tier4/autoware_launch#1056
…d on time (autowarefoundation#11073)
feat(boundary_departure): configurable departure points and type based on time
Update planning/motion_velocity_planner/autoware_motion_velocity_boundary_departure_prevention_module/src/utils.hpp
move out is_departure_persist
cutoff time based on decel
refactoring
refactoring