fix(avoidance): wait and see objects

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Mar 17, 2024 · a956ff9 · a956ff9
1 parent 948d3ba
commit a956ff9
Showing 1 changed file with 4 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
@@ -156,8 +156,10 @@
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
-          time_threshold: 3.0                            # [s]
-          distance_threshold: 1.0                        # [m]
+          closest_distance_to_wait_and_see: 10.0         # [m]
+          condition:
+            time_threshold: 3.0                          # [s]
+            distance_threshold: 1.0                      # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]