From 43078cd7beef747d9829c9b11245ba1beb00680a Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 20 Feb 2024 16:06:59 +0900 Subject: [PATCH] feat(avoidance): avoid objects that have no intent to move Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 2ac846ed25..cb1ad4b6aa 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 @@ -142,7 +142,9 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. force_avoidance: enable: true # [-] - time_threshold: 3.0 # [s] + time_threshold: + no_stop_factor: 3.0 # [s] + passable_signal: 10.0 # [s] distance_threshold: 1.0 # [m] ignore_area: traffic_light: