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feat(dynamic_obstacle_stop): add parameter to ignore unavoidable collisions #916

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Mar 19, 2024
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feat(dynamic_obstacle_stop): add parameter to ignore unavoidable collisions #916

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1 change: 1 addition & 0 deletions ...lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
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Expand Up @@ -8,3 +8,4 @@
hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection
decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled
minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision
ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
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