feat(avoidance): enable avoidance for objects that stop longer time t…

…han thresh Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Dec 19, 2023 · ed608fa · ed608fa
1 parent 024254c
commit ed608fa
Showing 1 changed file with 3 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
@@ -139,8 +139,9 @@
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         force_avoidance:
-          enable: false                                  # [-]
-          time_threshold: 1.0                            # [s]
+          enable: true                                   # [-]
+          time_threshold: 3.0                            # [s]
+          distance_threshold: 1.0                        # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]