feat: add parameters to avoid sudden steering in dynamic avoidance (#756

) Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jan 5, 2024 · 01fb0f2 · 01fb0f2
1 parent 5020749
commit 01fb0f2
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -59,6 +59,10 @@
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
 
+        max_ego_lat_acc: 0.3        # [m/ss]
+        max_ego_lat_jerk: 0.3       # [m/sss]
+        delay_time_ego_shift: 1.0   # [s]
+
         # for same directional object
         overtaking_object:
           max_time_to_collision: 40.0 # [s]