feat(avoidance): use free steer policy for safety check (#865)

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Feb 16, 2024 · a2532da · a2532da
1 parent 59556db
commit a2532da
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -187,6 +187,7 @@
         time_horizon_for_rear_object: 10.0               # [s]
         delay_until_departure: 0.0                       # [s]
         # rss parameters
+        extended_polygon_policy: "along_path"            # [-] select "rectangle" or "along_path"
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]