fix(planning_evaluator): redesign DRAC algorithm#12402
Open
xtk8532704 wants to merge 3 commits intoautowarefoundation:mainfrom
Open
fix(planning_evaluator): redesign DRAC algorithm#12402xtk8532704 wants to merge 3 commits intoautowarefoundation:mainfrom
xtk8532704 wants to merge 3 commits intoautowarefoundation:mainfrom
Conversation
github-actions
bot
added
type:ci
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
github-actions
bot
removed
the
type:ci
Signed-off-by: xtk8532704 <1041084556@qq.com>
Signed-off-by: xtk8532704 <1041084556@qq.com>
xtk8532704
requested review from
kosuke55,
kyoichi-sugahara and
maxime-clem
as code owners
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
fix(planning_evaluator): redesign DRAC algorithm
Description
This PR redesigns obstacle DRAC (deceleration rate to avoid a crash) to match its physical model more clearly: the ego applies a constant deceleration from the evaluation time to avoid a crash or to stop.
More discussion is here.
Related links
How was this PR tested?
Psim
Notes for reviewers
Interface changes
None.
Effects on system behavior
None