From 5a7add31364ac2412bd1367600a2f04ffa0027ee Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 19 Jan 2024 16:04:56 +0900 Subject: [PATCH] feat: avoidance approval per maneuver (#563) avoidance approval per maneuver --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 74b6a4f6ca..0a66157b8e 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 @@ -235,7 +235,7 @@ # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". # "per_shift_line": request approval for each shift line. # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). - make_approval_request: "per_shift_line" + make_approval_request: "per_avoidance_maneuver" # policy for vehicle slow down behavior. select "best_effort" or "reliable". # "best_effort": slow down deceleration & jerk are limited by constraints. # but there is a possibility that the vehicle can't stop in front of the vehicle.