feat(obstacle_cruise_planner): add stop obstacle hold time (autowaref…

…oundation#389) Signed-off-by: yutaka <purewater0901@gmail.com>
rej55 · Jul 7, 2022 · b1777f0 · b1777f0
1 parent 9299af4
commit b1777f0
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -53,6 +53,8 @@
       ego_obstacle_overlap_time_threshold : 1.0 #  time threshold to decide cut-in obstacle for cruise or stop [s]
       max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego
 
+      stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
+
       ignored_outside_obstacle_type:
         unknown: true
         car: false