fix(avoidance): wait and see objects (autowarefoundation#925)

Signed-off-by: satoshi-ota <[email protected]>
maxime-clem · Apr 8, 2024 · 4319718 · 4319718
1 parent 3efb79b
commit 4319718
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -155,10 +155,12 @@
           backward_distance: 10.0                        # [m]
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
-        force_avoidance:
+        avoidance_for_ambiguous_vehicle:
           enable: false                                  # [-]
-          time_threshold: 1.0                            # [s]
-          distance_threshold: 1.0                        # [m]
+          closest_distance_to_wait_and_see: 10.0         # [m]
+          condition:
+            time_threshold: 3.0                          # [s]
+            distance_threshold: 1.0                      # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]