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 0618185dcf..d540a73940 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 @@ -122,7 +122,8 @@ motorcycle: true # [-] pedestrian: true # [-] # detection range - object_check_goal_distance: 20.0 # [m] + object_check_goal_distance: 20.0 # [m] + object_check_return_pose_distance: 20.0 # [m] # filtering parking objects threshold_distance_object_is_on_center: 1.0 # [m] object_check_shiftable_ratio: 0.6 # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 0090a29926..584039ba5d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -53,7 +53,7 @@ goal_planner: enable_rtc: false - enable_simultaneous_execution_as_approved_module: false + enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false keep_last: true priority: 1