From 554a2c18fdffc4d25d4cf546e9616c5325f9ea2c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 30 Aug 2024 00:33:12 +0900 Subject: [PATCH] feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation (#1113) (#541) * feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation * fix(static_obstacle_avoidance): tune ambiguous vehicle ignore area --------- Signed-off-by: satoshi-ota --- .../static_obstacle_avoidance.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 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 779b66bec3..497c0eef02 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 @@ -150,16 +150,16 @@ # "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically. # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode. # "ignore" : never avoid it. - policy: "auto" # [-] + policy: "manual" # [-] condition: th_stopped_time: 3.0 # [s] th_moving_distance: 1.0 # [m] ignore_area: traffic_light: - front_distance: 100.0 # [m] + front_distance: 20.0 # [m] crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] + front_distance: 20.0 # [m] + behind_distance: 0.0 # [m] wait_and_see: target_behaviors: ["MERGING", "DEVIATING"] # [-] th_closest_distance: 10.0 # [m]