From d80331b20d80328c20cc5f0f22f8ee3772fa0f63 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 19 Mar 2024 16:06:27 +0900 Subject: [PATCH] feat(dynamic_obstacle_stop): add parameter to ignore unavoidable collisions (#916) Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/dynamic_obstacle_stop.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml index 14483093e8..c18de5bd53 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -8,3 +8,4 @@ hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision + ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)