feat: add stopped_object.max_object_vel in dynamic_avoidance (#753)

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 25, 2023 · 31b7b98 · 31b7b98
1 parent e670bf1
commit 31b7b98
Showing 1 changed file with 3 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
@@ -46,6 +46,9 @@
           min_object_vel: -0.5               # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
           max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
+        stopped_object:
+          max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
+
       drivable_area_generation:
         polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base: