feat(autoware_launch): avoid oncoming vehicles (#335)

Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Apr 30, 2023 · bfd0bd8 · bfd0bd8
1 parent 2ba6593
commit bfd0bd8
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,5 +16,6 @@
 
       drivable_area_generation:
         lat_offset_from_obstacle: 0.8 # [m]
-        time_to_avoid: 5.0 # [s]
+        time_to_avoid_same_directional_object: 5.0 # [s]
+        time_to_avoid_opposite_directional_object: 6.0 # [s]
         max_lat_offset_to_avoid: 0.5 # [m]