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refactor(avoidance): cleanup force avoidance params #667

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Oct 30, 2023
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refactor(avoidance): cleanup force avoidance params #667

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17 changes: 11 additions & 6 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 @@ -9,7 +9,6 @@

# avoidance module common setting
enable_bound_clipping: false
enable_force_avoidance_for_stopped_vehicle: false
enable_yield_maneuver: true
enable_yield_maneuver_during_shifting: false
enable_cancel_maneuver: true
Expand Down Expand Up @@ -120,11 +119,6 @@

# For target object filtering
target_filtering:
# params for avoidance of not-parked objects
threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s]
object_ignore_section_traffic_light_in_front_distance: 100.0 # [m]
object_ignore_section_crosswalk_in_front_distance: 30.0 # [m]
object_ignore_section_crosswalk_behind_distance: 30.0 # [m]
# detection range
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
Expand All @@ -141,6 +135,17 @@
max_forward_distance: 150.0 # [m]
backward_distance: 10.0 # [m]

# 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]
ignore_area:
traffic_light:
front_distance: 100.0 # [m]
crosswalk:
front_distance: 30.0 # [m]
behind_distance: 30.0 # [m]

# For safety check
safety_check:
# safety check configuration
Expand Down
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