From 077835f84d2d0ddadc98a2d8bba6c688ce70dab4 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 19 May 2023 15:32:59 +0900 Subject: [PATCH] feat(avoidance): don't avoid objects around crosswalks (#362) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) 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 2e5b96116d..e0b709cfe8 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 @@ -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]