feat(avoidance): don't avoid objects around crosswalks (#362)

Signed-off-by: satoshi-ota <[email protected]>
tier4 · May 19, 2023 · 077835f · 077835f
1 parent e59f08a
commit 077835f
Showing 1 changed file with 4 additions and 2 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
@@ -74,9 +74,11 @@
         threshold_time_object_is_moving: 1.0            # [s]
         threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
         # detection range
-        object_check_force_avoidance_clearance: 30.0    # [m]
+        object_ignore_distance_traffic_light: 30.0      # [m]
+        object_ignore_distance_crosswalk_forward: 30.0  # [m]
+        object_ignore_distance_crosswalk_backward: 30.0 # [m]
         object_check_forward_distance: 150.0            # [m]
-        object_check_backward_distance: 100.0            # [m]
+        object_check_backward_distance: 100.0           # [m]
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]