From 0cefc369f811a0059ed60bed15bd9ba86428464b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 12 Apr 2024 14:42:45 +0900 Subject: [PATCH] fix(avoidance): change approval policy (#623) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 55b7e9d619..b224807fe9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -260,7 +260,7 @@ # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". # "per_shift_line": request approval for each shift line. # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). - make_approval_request: "per_avoidance_maneuver" + make_approval_request: "per_shift_line" # policy for vehicle slow down behavior. select "best_effort" or "reliable". # "best_effort": slow down deceleration & jerk are limited by constraints. # but there is a possibility that the vehicle can't stop in front of the vehicle.