From 7635c5150df5d372720c4a23ed72a3a1f7a75ab3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 12 Mar 2024 15:21:30 +0900 Subject: [PATCH] feat(obstacle_cruise_planner): enable obstacle cruise's yield function by default (#917) enable obstacle cruise's yield function by default Signed-off-by: Daniel Sanchez --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 2ff87e9b01..e9156441a4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -96,7 +96,7 @@ ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego yield: - enable_yield: false + enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it max_obstacles_collision_time: 10.0 # how far the blocking obstacle