From 01fb0f25035380e25e757e51de27cd666d74024c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 5 Jan 2024 16:38:49 +0900 Subject: [PATCH] feat: add parameters to avoid sudden steering in dynamic avoidance (#756) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index 29fdca78e5..371f7da2fa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/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]