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feat(avoidance): add paramenters for dynamic detection area #634

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Oct 17, 2023
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feat(avoidance): add paramenters for dynamic detection area #634

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9 changes: 7 additions & 2 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -118,8 +118,6 @@
object_ignore_section_crosswalk_in_front_distance: 30.0 # [m]
object_ignore_section_crosswalk_behind_distance: 30.0 # [m]
# detection range
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 10.0 # [m]
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
Expand All @@ -128,6 +126,13 @@
# lost object compensation
object_last_seen_threshold: 2.0

# detection area generation parameters
detection_area:
static: false # [-]
min_forward_distance: 50.0 # [m]
max_forward_distance: 150.0 # [m]
backward_distance: 10.0 # [m]

# For safety check
safety_check:
# safety check configuration
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