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feat(obstacle_cruise_planner): enable obstacle cruise's yield function by default #917

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Mar 12, 2024
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feat(obstacle_cruise_planner): enable obstacle cruise's yield function by default #917

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2 changes: 1 addition & 1 deletion ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Expand Up @@ -96,7 +96,7 @@
ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s]
max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
yield:
enable_yield: false
enable_yield: true
lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding
max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it
max_obstacles_collision_time: 10.0 # how far the blocking obstacle
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