From 6b5eb8b9c68c4e7b1b430b0b9589837e46ff1c63 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 25 Sep 2023 11:37:11 +0900 Subject: [PATCH] fix(autoware_launch): improve stop decision in out_of_lane Signed-off-by: Takayuki Murooka --- .../behavior_velocity_planner/out_of_lane.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index 510dc86ef6..c74c5b3d87 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -24,8 +24,7 @@ action: # action to insert in the path if an object causes a conflict at an overlap skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed - strict: true # if true, when a decision is taken to avoid entering a lane, the stop point will make sure no lane at all is entered by ego - # if false, ego stops just before entering a lane but may then be overlapping another lane. + precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap