From 1e1fb186e5672615dfd4b6aef8f0409a775e8de5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 29 Aug 2023 08:15:44 +0900 Subject: [PATCH] feat(avoidance): flexible avoidance safety check param (#529) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 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 65623343bb..c91ec0e88b 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 @@ -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 # [-]