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feat(run_out)!: ignore the collision points on crosswalk #737

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Dec 19, 2023
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feat(run_out)!: ignore the collision points on crosswalk #737

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1 change: 1 addition & 0 deletions ...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
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Expand Up @@ -3,6 +3,7 @@
run_out:
detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
use_partition_lanelet: true # [-] whether to use partition lanelet map data
suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates
stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
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