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fix(avoidance): add target filtering threshold for merging/deviating vehicle #974

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Apr 30, 2024
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fix(avoidance): add target filtering threshold for merging/deviating vehicle #974

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4 changes: 4 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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 # [-]
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