feat(behavior): increase dynamic avoidance module priority (#355)

Signed-off-by: satoshi-ota <[email protected]>
tier4 · May 18, 2023 · c6856e9 · c6856e9
1 parent c8427b9
commit c6856e9
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -7,28 +7,28 @@
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 6
+      priority: 7
       max_module_size: 1
 
     external_request_lane_change_right:
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 6
+      priority: 7
       max_module_size: 1
 
     lane_change_left:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 5
+      priority: 6
       max_module_size: 1
 
     lane_change_right:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 5
+      priority: 6
       max_module_size: 1
 
     pull_out:
@@ -56,20 +56,20 @@
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
-      priority: 4
+      priority: 5
       max_module_size: 1
 
     # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
-      priority: 3
+      priority: 4
       max_module_size: 1
 
     dynamic_avoidance:
       enable_module: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 7
+      priority: 3
       max_module_size: 1