From 51157f2c793423d1c2e22e9054dc4c747934cd0a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka <takayuki5168@gmail.com> Date: Thu, 30 Nov 2023 11:40:03 +0900 Subject: [PATCH] feat: add several min_object_vel in dynamic_avoidance (#707) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 9ee86a06a4..24bc144c40 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 @@ -28,10 +28,12 @@ cut_in_object: min_time_to_start_cut_in: 1.0 # [s] min_lon_offset_ego_to_object: 0.0 # [m] + min_object_vel: 0.5 # [m/s] cut_out_object: max_time_from_outside_ego_path: 2.0 # [s] min_object_lat_vel: 0.3 # [m/s] + min_object_vel: 0.5 # [m/s] crossing_object: min_overtaking_object_vel: 1.0 @@ -41,7 +43,7 @@ front_object: max_object_angle: 0.785 - min_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle. + 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. drivable_area_generation: