From 431971820acade5918acd733d4c5a9d1f63e123b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 19 Mar 2024 08:13:15 +0900 Subject: [PATCH] fix(avoidance): wait and see objects (#925) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 +++++--- 1 file changed, 5 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 ca22d8dbf8..16990ef1cc 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 @@ -155,10 +155,12 @@ backward_distance: 10.0 # [m] # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. - force_avoidance: + avoidance_for_ambiguous_vehicle: enable: false # [-] - time_threshold: 1.0 # [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]