From cb266c4287dcd5681a82043938dc52c43dc574b5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 27 Jun 2024 12:47:19 +0900 Subject: [PATCH] refactor(static_obstacle_avoidance): organize params for drivable lane (#1042) Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index c6c7f4ee5c..cd5e2cb326 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -5,9 +5,13 @@ resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER resample_interval_for_output: 4.0 # [m] FOR DEVELOPER + # drivable lane setting. this module is able to use not only current lane but also right/left lane + # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap. + # "current_lane" : use only current lane. this module doesn't use adjacent lane to avoid object. + # "same_direction_lane" : this module uses same direction lane to avoid object if need. + # "opposite_direction_lane": this module uses both same direction and opposite direction lane. + use_lane_type: "opposite_direction_lane" # drivable area setting - use_adjacent_lane: true - use_opposite_lane: true use_intersection_areas: true use_hatched_road_markings: true use_freespace_areas: true