From 3c3bf7eaa8ca3830c251d7e041e4b01c8874c7d4 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Mon, 30 Oct 2023 09:46:04 +0900 Subject: [PATCH] fix(avoidance): add condition to transit yield maneuver Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 ++ 1 file changed, 2 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 ea75fc9cb4..0591833b2b 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 @@ -195,6 +195,8 @@ # For yield maneuver yield: yield_velocity: 2.78 # [m/s] + condition: + yaw_deviation: 0.087 # [rad] (default: 5.0deg) # For stop maneuver stop: