feat(obstacle_cruise_planner): add velocity_threshold to outside obst…

…acle (#447) Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Aug 22, 2022 · 9fe2039 · 9fe2039
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commit 9fe2039
Showing 1 changed file with 1 addition and 0 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
@@ -50,6 +50,7 @@
       collision_time_margin : 8.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]
 
       outside_rough_detection_area_expand_width : 0.5 # rough lateral margin for rough detection area expansion for obstacles outside the trajectory [m]
+      outside_obstacle_min_velocity_threshold : 3.0 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s]
       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