From e37a0630d80f98ac48771c17aff80f98f77f2d1f Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 5 Apr 2024 19:04:55 +0900 Subject: [PATCH] feat(run_out): maintain stop wall for some seconds (#944) update stop wall maintain time to 1 sec Signed-off-by: Daniel Sanchez --- .../behavior_velocity_planner/run_out.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 26801f21ba..c8905f66da 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -17,6 +17,7 @@ ego_cut_line_length: 3.0 # The width of the ego's cut line ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. + keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled # Parameter to create abstracted dynamic obstacles dynamic_obstacle: