From fafff2d2940773301640fe552f27428a5f6b1976 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 27 Nov 2023 01:26:32 +0900 Subject: [PATCH] feat: add several min_object_vel in dynamic_avoidance Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index bf9c815405..506589ffef 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/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: