feat(avoidance): flexible avoidance safety check param (#529)

Signed-off-by: satoshi-ota <[email protected]>
tier4 · Aug 28, 2023 · 1e1fb18 · 1e1fb18
1 parent 42efcc3
commit 1e1fb18
Showing 1 changed file with 2 additions and 1 deletion.
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
@@ -140,7 +140,8 @@
         # collision check parameters
         check_all_predicted_path: false                  # [-]
         time_resolution: 0.5                             # [s]
-        time_horizon: 10.0                               # [s]
+        time_horizon_for_front_object: 3.0               # [s]
+        time_horizon_for_rear_object: 10.0               # [s]
         safety_check_backward_distance: 100.0            # [m]
         hysteresis_factor_expand_rate: 1.5               # [-]
         hysteresis_factor_safe_count: 10                 # [-]