From 5d8a2f0d6cfd715c6ef01daa007e3748edbf6b7a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 17 Oct 2023 19:08:37 +0900 Subject: [PATCH] feat(avoidance): add paramenters for dynamic detection area (#634) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 9 +++++++-- 1 file changed, 7 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 40f10f4805..fe9c37d200 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 @@ -118,8 +118,6 @@ object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range - object_check_forward_distance: 150.0 # [m] - object_check_backward_distance: 10.0 # [m] object_check_goal_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] @@ -128,6 +126,13 @@ # lost object compensation object_last_seen_threshold: 2.0 + # detection area generation parameters + detection_area: + static: false # [-] + min_forward_distance: 50.0 # [m] + max_forward_distance: 150.0 # [m] + backward_distance: 10.0 # [m] + # For safety check safety_check: # safety check configuration