From aab18baba751d4c7affe9bc25b5fc196861379ae Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 12 Sep 2023 23:00:13 +0900 Subject: [PATCH] feat(autoware_launch): add approaching stop on curve in obstacle cruise planner (#560) * feat(autoware_launch): add approaching stop on curve in obstacle cruise planner Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_cruise_planner.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 b71c2d667c..aadd0ccd02 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 @@ -20,6 +20,10 @@ nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index min_behavior_stop_margin: 3.0 # [m] + stop_on_curve: + enable_approaching: false + additional_safe_distance_margin: 3.0 # [m] + min_safe_distance_margin: 3.0 # [m] suppress_sudden_obstacle_stop: true stop_obstacle_type: