From b28f029c20d0bdefeed634fd3340513d023c1e26 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 23 Nov 2023 16:23:08 +0900 Subject: [PATCH] feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 f3f04270d6..f9b1d1a87b 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 @@ -215,6 +215,10 @@ stop_buffer: 1.0 # [m] policy: + # policy for rtc request. select "shift_line" or "maneuver". + # "shift_line": request approval for each shift line. + # "maneuver": request approval for avoidance maneuver (avoid + return). + approval: "shift_line" # policy for vehicle slow down behavior. select "best_effort" or "reliable". # "best_effort": slow down deceleration & jerk are limited by constraints. # but there is a possibility that the vehicle can't stop in front of the vehicle.