feat(avoidance): return original lane by red traffic light

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Oct 26, 2023 · 9791fec · 9791fec
1 parent 262a774
commit 9791fec
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -22,7 +22,7 @@
       use_hatched_road_markings: true
 
       # for debug
-      publish_debug_marker: false
+      publish_debug_marker: true
       print_debug_info: false
 
       # avoidance is performed for the object type with true
@@ -186,11 +186,18 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          remain_buffer_distance: 30.0                  # [m]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]
           nominal_avoidance_speed: 8.33                 # [m/s]
+        # return dead line
+        return_dead_line:
+          goal:
+            enable: true                                # [-]
+            buffer: 30.0                                # [m]
+          traffic_light:
+            enable: true                                # [-]
+            buffer: 3.0                                 # [m]
 
       # For yield maneuver
       yield: