feat(avoidance): avoid objects that have no intent to move

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Feb 20, 2024 · ff32008 · ff32008
1 parent a2532da
commit ff32008
Showing 1 changed file with 3 additions and 1 deletion.
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
@@ -142,7 +142,9 @@
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         force_avoidance:
           enable: true                                   # [-]
-          time_threshold: 3.0                            # [s]
+          time_threshold:
+            no_stop_factor: 3.0                          # [s]
+            passable_signal: 10.0                        # [s]
           distance_threshold: 1.0                        # [m]
           ignore_area:
             traffic_light: