feat: add polygon_generation_method in dynamic_avoidance (#715)

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 5, 2023 · 0960260 · 0960260
1 parent 42ea683
commit 0960260
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -47,6 +47,7 @@
           max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
       drivable_area_generation:
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]