Merge branch 'main' into feat/ndt-diagnostics-exe-time

autowarefoundation · Sep 12, 2023 · 3e48d1d · 3e48d1d
2 parents d87b084 + cb55e83
commit 3e48d1d
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diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -32,6 +32,7 @@
         use_object_recognition: true
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
+        th_moving_object_velocity: 1.0
 
       # pull over
       pull_over:

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -20,6 +20,10 @@
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
+      stop_on_curve:
+        enable_approaching: false
+        additional_safe_distance_margin: 3.0 # [m]
+        min_safe_distance_margin: 3.0 # [m]
       suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type: