From c2f4ccbf8d8979e572ab0c485a4dabbc57f37d92 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Mon, 11 Dec 2023 15:55:53 +0900 Subject: [PATCH] cleanup Signed-off-by: Maxime CLEMENT --- .../dynamic_obstacle_stop.param.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml index 00e2abc956..a22a750238 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -1,11 +1,10 @@ /**: ros__parameters: dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object - print_runtimes: true # if true, runtimes of different parts of the module are logged extra_object_width: 1.0 # [m] extra width around detected objects minimum_object_velocity: 0.5 # [m/s] objects with a velocity bellow this value are ignored stop_distance_buffer: 0.5 # [m] extra distance to add between the stop point and the collision point time_horizon: 5.0 # [s] time horizon used for collision checks hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection - decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled:w - minimum_object_distance_from_ego_path: 1.0 + decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled + minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision \ No newline at end of file