feat(autoware_launch): add approaching stop on curve in obstacle crui…

…se planner (#560) * feat(autoware_launch): add approaching stop on curve in obstacle cruise planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Sep 12, 2023 · aab18ba · aab18ba
1 parent 0df78f5
commit aab18ba
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -20,6 +20,10 @@
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
+      stop_on_curve:
+        enable_approaching: false
+        additional_safe_distance_margin: 3.0 # [m]
+        min_safe_distance_margin: 3.0 # [m]
       suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type: