add deceleration rate for pedestrians and bicycles

autowarefoundation · Sep 25, 2024 · daf5d3b · daf5d3b
1 parent 28559b4
commit daf5d3b
Showing 1 changed file with 4 additions and 2 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
@@ -47,8 +47,8 @@
           bus: true
           trailer: true
           motorcycle: true
-          bicycle: false
-          pedestrian: false
+          bicycle: true
+          pedestrian: true
 
       cruise_obstacle_type:
         inside:
@@ -114,6 +114,8 @@
         outside_obstacle:
           max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s]
           num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
+          pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss]
+          bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss]
         crossing_obstacle:
           collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]