feat(boundary_departure): slow down computation (#11085)#2275
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TaikiYamada4 merged 2 commits intobeta/v0.48from Aug 6, 2025
Merged
feat(boundary_departure): slow down computation (#11085)#2275TaikiYamada4 merged 2 commits intobeta/v0.48from
TaikiYamada4 merged 2 commits intobeta/v0.48from
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…1085) * feat(boundary_departure): slow down computation Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fixed some logic Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactor function get_interp_to_point() Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/motion_velocity_planner/autoware_motion_velocity_boundary_departure_prevention_module/src/slow_down_interpolator.cpp * fix pre-commit diff error Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * use function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
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TaikiYamada4
approved these changes
Aug 6, 2025
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BDP inserts slow down distance when ego approaches or leaving lane through road border.
Departure interval is first generated to find the distance to slow down point, and the lateral distance to boundary.
Then slow down point is computed
What the slow down feature do
Dynamic comfort to hard slow down
When the longitudinal gap is sufficient, the planner slows with the comfort limits (th_jerk_mps3.min, th_acc_mps2.min) for a smoother ride.
As the gap shrinks, it automatically escalates to the hard limits (.max) so that the target conditions are still met.
cap-.2025-07-30-17-01-55.mp4
feat(boundary_departure): slow down computation
fixed some logic
refactor function get_interp_to_point()
Update planning/motion_velocity_planner/autoware_motion_velocity_boundary_departure_prevention_module/src/slow_down_interpolator.cpp
fix pre-commit diff error
use function