From a3e28d1058a8b15612b049d8a9c520775f655392 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 7 Aug 2023 10:35:54 +0900 Subject: [PATCH] feat(autoware_launch): add cut out parameters for dynamic avoidance (#500) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_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/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml index e87e6ab546..a0571be4aa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/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