From 70c8749a6ae3ab438e5edb502d2c50ad63c3243b Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 6 Feb 2024 18:17:49 +0900 Subject: [PATCH] feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 52724cdda0..596c136712 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -187,6 +187,7 @@ time_horizon_for_rear_object: 10.0 # [s] delay_until_departure: 0.0 # [s] # rss parameters + steering: "free" # [-] select "fixed" or "free" expected_front_deceleration: -1.0 # [m/ss] expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s]