Merge pull request autowarefoundation#259 from tier4/beta/v0.18.0+PR723

fix(start_planner): check safety only when waiting approval
maxime-clem · Dec 8, 2023 · 85bbc51 · 85bbc51
2 parents 70f9daf + 5281432
commit 85bbc51
Showing 1 changed file with 14 additions and 1 deletion.
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -84,7 +84,6 @@
         ego_predicted_path:
           min_velocity: 0.0
           min_acceleration: 1.0
-          max_velocity: 1.0
           time_horizon_for_front_object: 10.0
           time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
@@ -139,6 +138,20 @@
           backward_path_length: 30.0
           forward_path_length: 100.0
 
+      surround_moving_obstacle_check:
+          search_radius: 10.0
+          th_moving_obstacle_velocity: 1.0
+          # ObjectTypesToCheck
+          object_types_to_check:
+            check_car: true
+            check_truck: true
+            check_bus: true
+            check_trailer: true
+            check_bicycle: true
+            check_motorcycle: true
+            check_pedestrian: true
+            check_unknown: false
+
       # debug
       debug:
         print_debug_info: false