feat(autoware_launch): add time margins for dynamic avoidance (#360)

Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Jun 16, 2023 · c5f4f05 · c5f4f05
1 parent cee5489
commit c5f4f05
Showing 1 changed file with 13 additions and 2 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -16,6 +16,17 @@
 
       drivable_area_generation:
         lat_offset_from_obstacle: 0.8 # [m]
-        time_to_avoid_same_directional_object: 5.0 # [s]
-        time_to_avoid_opposite_directional_object: 6.0 # [s]
         max_lat_offset_to_avoid: 0.5 # [m]
+
+        # for same directional object
+        overtaking_object:
+          max_time_to_collision: 3.0 # [s]
+          start_duration_to_avoid: 4.0  # [s]
+          end_duration_to_avoid: 5.0  # [s]
+          duration_to_hold_avoidance: 3.0 # [s]
+
+        # for opposite directional object
+        oncoming_object:
+          max_time_to_collision: 3.0 # [s]
+          start_duration_to_avoid: 9.0  # [s]
+          end_duration_to_avoid: 0.0  # [s]