From 28a29faea58eedb71e1f776e8a2781d01ec484b8 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Fri, 16 Feb 2024 18:01:13 +0900 Subject: [PATCH] feat(avoidance): wait next shift approval until the ego reaches shift length threshold Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 2ac846ed25..28e409d028 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 @@ -208,6 +208,10 @@ max_right_shift_length: 5.0 max_left_shift_length: 5.0 max_deviation_from_lane: 0.2 # [m] + # approve next shift line after reaching this percentage of current shift line length. + # this param is added so that it can wait return shift approval until the behind occlusion of avoid target is clear. + # it's able to disable this feature by setting this param 0.0. + ratio_for_return_shift_approval: 0.5 # [-] # avoidance distance parameters longitudinal: min_prepare_time: 1.0 # [s]