From 6aa816bc701763a75140ec3bf6ec7bc0e25a10d2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 30 Oct 2023 21:34:19 +0900 Subject: [PATCH] refactor(avoidance): cleanup force avoidance params (#667) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 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 ea75fc9cb4..ab1273b5b5 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 @@ -9,7 +9,6 @@ # avoidance module common setting enable_bound_clipping: false - enable_force_avoidance_for_stopped_vehicle: false enable_yield_maneuver: true enable_yield_maneuver_during_shifting: false enable_cancel_maneuver: true @@ -120,11 +119,6 @@ # For target object filtering target_filtering: - # params for avoidance of not-parked objects - threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] - object_ignore_section_traffic_light_in_front_distance: 100.0 # [m] - object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] - object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range object_check_goal_distance: 20.0 # [m] # filtering parking objects @@ -141,6 +135,17 @@ max_forward_distance: 150.0 # [m] backward_distance: 10.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. + force_avoidance: + enable: false # [-] + time_threshold: 1.0 # [s] + ignore_area: + traffic_light: + front_distance: 100.0 # [m] + crosswalk: + front_distance: 30.0 # [m] + behind_distance: 30.0 # [m] + # For safety check safety_check: # safety check configuration