From 618e790dd9303386279dae777a5ccab02d571097 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 28 Feb 2024 08:56:12 +0900 Subject: [PATCH] feat(avoidance): wait next shift approval until the ego reaches shift length threshold (#891) * feat(avoidance): wait next shift approval until the ego reaches shift length threshold Signed-off-by: satoshi-ota * fix(avoidance): param description Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) 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 2ac846ed25..3d59774e4a 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 @@ -208,6 +208,10 @@ max_right_shift_length: 5.0 max_left_shift_length: 5.0 max_deviation_from_lane: 0.2 # [m] + # approve the next shift line after reaching this percentage of the current shift line length. + # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. + # this feature can be disabled by setting this parameter to 0.0. + ratio_for_return_shift_approval: 0.5 # [-] # avoidance distance parameters longitudinal: min_prepare_time: 1.0 # [s]