feat: add several min_object_vel in dynamic_avoidance

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Nov 26, 2023 · fafff2d · fafff2d
1 parent 7580bc7
commit fafff2d
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -28,10 +28,12 @@
         cut_in_object:
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
+          min_object_vel: 0.5 # [m/s]
 
         cut_out_object:
           max_time_from_outside_ego_path: 2.0 # [s]
           min_object_lat_vel: 0.3 # [m/s]
+          min_object_vel: 0.5 # [m/s]
 
         crossing_object:
           min_overtaking_object_vel: 1.0
@@ -41,6 +43,7 @@
 
         front_object:
           max_object_angle: 0.785
+          min_object_vel: -0.5 # [m/s]
 
       drivable_area_generation:
         object_path_base: