From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 10 Oct 2024 15:51:38 +0900 Subject: [PATCH] revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index d37554eba7..d31c30ce61 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -126,7 +126,7 @@ ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] - num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding