From 58288b6040e1e74c0c213899e3da64b9667ed5d6 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Fri, 12 Apr 2024 16:47:49 +0900 Subject: [PATCH] fix(avoidance): add target filtering threshold for merging/deviating vehicle 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 c85fdd5a23..dc42af0412 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 @@ -132,6 +132,10 @@ th_shiftable_ratio: 0.8 # [-] min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER + # for merging/deviating vehicle + merging_vehicle: + th_overhang_distance: 0.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: enable: true # [-]