From 528143215a53f4501932d32e18161b80d6f38a90 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 7 Dec 2023 01:04:46 +0900 Subject: [PATCH] feat(start_planner): add surround moving obstacle check (#723) update start_planner.param.yaml Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 420d9b5fcc..514d61e225 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -84,7 +84,6 @@ ego_predicted_path: min_velocity: 0.0 min_acceleration: 1.0 - max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 time_resolution: 0.5 @@ -139,6 +138,20 @@ backward_path_length: 30.0 forward_path_length: 100.0 + surround_moving_obstacle_check: + search_radius: 10.0 + th_moving_obstacle_velocity: 1.0 + # ObjectTypesToCheck + object_types_to_check: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: false + # debug debug: print_debug_info: false