diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 443be83404..07bd519e00 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -30,7 +30,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 1 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 2.0 # [s] @@ -40,7 +39,6 @@ safety_buffer_lateral: 0.3 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: - is_target: true execute_num: 1 moving_speed_threshold: 2.0 # 7.2km/h moving_time_threshold: 2.0 @@ -50,7 +48,6 @@ safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 bus: - is_target: true execute_num: 1 moving_speed_threshold: 2.0 # 7.2km/h moving_time_threshold: 2.0 @@ -60,7 +57,6 @@ safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 trailer: - is_target: true execute_num: 1 moving_speed_threshold: 2.0 # 7.2km/h moving_time_threshold: 2.0 @@ -70,7 +66,6 @@ safety_buffer_lateral: 0.1 safety_buffer_longitudinal: 0.0 unknown: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -80,7 +75,6 @@ safety_buffer_lateral: -0.2 safety_buffer_longitudinal: 0.0 bicycle: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -90,7 +84,6 @@ safety_buffer_lateral: 0.5 safety_buffer_longitudinal: 1.0 motorcycle: - is_target: true execute_num: 1 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -100,7 +93,6 @@ safety_buffer_lateral: 0.3 safety_buffer_longitudinal: 1.0 pedestrian: - is_target: true execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -114,6 +106,16 @@ # For target object filtering target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # params for avoidance of not-parked objects threshold_time_force_avoidance_for_stopped_vehicle: 1.0 # [s] object_ignore_section_traffic_light_in_front_distance: 100.0 # [m] @@ -132,6 +134,16 @@ # For safety check safety_check: + # safety check target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration enable: true # [-] check_current_lane: false # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml index da45e24ce9..74c6112c0e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml @@ -7,7 +7,6 @@ # avoidance is performed for the object type with true target_object: car: - is_target: true # [-] execute_num: 2 # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] @@ -16,7 +15,6 @@ avoid_margin_lateral: 0.0 # [m] safety_buffer_lateral: 0.0 # [m] truck: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -25,7 +23,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bus: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -34,7 +31,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 trailer: - is_target: true execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -43,7 +39,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 unknown: - is_target: false execute_num: 1 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -52,7 +47,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 0.0 bicycle: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -61,7 +55,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 motorcycle: - is_target: false execute_num: 2 moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 1.0 @@ -70,7 +63,6 @@ avoid_margin_lateral: 0.0 safety_buffer_lateral: 1.0 pedestrian: - is_target: false execute_num: 2 moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 @@ -80,3 +72,16 @@ safety_buffer_lateral: 1.0 lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] + + # For target object filtering + target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: false # [-] + motorcycle: false # [-] + pedestrian: false # [-]