From a956ff9a6fd5b1cc18f887d962a117d52338cbe2 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Sun, 17 Mar 2024 15:01:55 +0900 Subject: [PATCH] fix(avoidance): wait and see objects Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 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 3cde099bf9..619539be0d 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 @@ -156,8 +156,10 @@ # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: enable: true # [-] - time_threshold: 3.0 # [s] - distance_threshold: 1.0 # [m] + closest_distance_to_wait_and_see: 10.0 # [m] + condition: + time_threshold: 3.0 # [s] + distance_threshold: 1.0 # [m] ignore_area: traffic_light: front_distance: 100.0 # [m]