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feat(avoidance): add new param for avoidance target object filtering logic #226

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Mar 1, 2023
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feat(avoidance): add new param for avoidance target object filtering logic #226

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3 changes: 3 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
enable_avoidance_over_same_direction: true
enable_avoidance_over_opposite_direction: true
enable_update_path_when_object_is_gone: false
enable_force_avoidance_for_stopped_vehicle: false
enable_safety_check: false
enable_yield_maneuver: false
disable_path_update: false
Expand All @@ -39,7 +40,9 @@
# filtering moving objects
threshold_speed_object_is_stopped: 1.0 # [m/s]
threshold_time_object_is_moving: 1.0 # [s]
threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
# detection range
object_check_force_avoidance_clearance: 30.0 # [m]
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
object_check_goal_distance: 20.0 # [m]
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