feat: add parameters for the front object decision in dynamic_avoidan…

…ce module (#706) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Nov 27, 2023 · 1076688 · 1076688
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commit 1076688
Showing 1 changed file with 2 additions and 0 deletions.
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
@@ -41,6 +41,8 @@
 
         front_object:
           max_object_angle: 0.785
+          min_vel: -0.5                      # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
+          max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
       drivable_area_generation:
         object_path_base: