feat(autoware_launch): add cut out parameters for dynamic avoidance (#…

…500) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Aug 7, 2023 · a3e28d1 · a3e28d1
1 parent ec2fd76
commit a3e28d1
Showing 1 changed file with 4 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
@@ -27,6 +27,10 @@
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
 
+        cut_out_object:
+          max_time_from_outside_ego_path: 0.5 # [s]
+          min_object_lat_vel: 0.3 # [m/s]
+
         crossing_object:
           min_object_vel: 1.0
           max_object_angle: 1.05