From 870695d8f767464531146eb83c1faa2152649aad Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi Date: Fri, 7 Jul 2023 10:54:47 +0900 Subject: [PATCH] feat(behavior_path_planner): shorten the wating time of force avoidance Signed-off-by: Shumpei Wakabayashi --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 0acc3c52d1..a9b96abcd8 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 @@ -105,10 +105,10 @@ # For target object filtering target_filtering: # params for avoidance of not-parked objects - threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] + threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] object_ignore_section_traffic_light_in_front_distance: 100.0 # [m] - object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] - object_ignore_section_crosswalk_behind_distance: 30.0 # [m] + object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] + object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 10.0 # [m]