From ed608fadc7f2de6c55678819eff7a0c6f79f06ef Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 19 Dec 2023 12:31:50 +0900 Subject: [PATCH] feat(avoidance): enable avoidance for objects that stop longer time than thresh Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index d50b1ad42c..add538c7bf 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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]