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feat: add several min_object_vel in dynamic_avoidance #707

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Nov 30, 2023
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feat: add several min_object_vel in dynamic_avoidance #707

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4 changes: 3 additions & 1 deletion ...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,10 +28,12 @@
cut_in_object:
min_time_to_start_cut_in: 1.0 # [s]
min_lon_offset_ego_to_object: 0.0 # [m]
min_object_vel: 0.5 # [m/s]

cut_out_object:
max_time_from_outside_ego_path: 2.0 # [s]
min_object_lat_vel: 0.3 # [m/s]
min_object_vel: 0.5 # [m/s]

crossing_object:
min_overtaking_object_vel: 1.0
Expand All @@ -41,7 +43,7 @@

front_object:
max_object_angle: 0.785
min_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.

drivable_area_generation:
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