feat(obstacle_cruise_planner): add parameters for collison check (#471)

* feat(obstacle_cruise_planner): add parameters for collison check Signed-off-by: yutaka <[email protected]> * change paramters Signed-off-by: yutaka <[email protected]> Signed-off-by: yutaka <[email protected]>
autowarefoundation · Sep 9, 2022 · 2d379a0 · 2d379a0
1 parent cf05a88
commit 2d379a0
Showing 1 changed file with 5 additions and 2 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
@@ -54,11 +54,14 @@
       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
-
       prediction_resampling_time_interval: 0.1
       prediction_resampling_time_horizon: 10.0
 
+      goal_extension_length: 5.0 # extension length for collision check around the goal
+      goal_extension_interval: 1.0 # extension interval for collision check around the goal
+
+      stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
+
       ignored_outside_obstacle_type:
         unknown: true
         car: false