fix(avoidance): add target filtering threshold for merging/deviating …

…vehicle (autowarefoundation#974) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
maxime-clem · May 2, 2024 · a0358e4 · a0358e4
1 parent cfd2145
commit a0358e4
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -132,6 +132,10 @@
           th_shiftable_ratio: 0.8                       # [-]
           min_road_shoulder_width: 0.5                  # [m] FOR DEVELOPER
 
+        # for merging/deviating vehicle
+        merging_vehicle:
+          th_overhang_distance: 0.0                     # [m]
+
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         avoidance_for_ambiguous_vehicle:
           enable: true                                  # [-]