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fix(autoware_launch): improve stop decision in out_of_lane #615

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Oct 3, 2023
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fix(autoware_launch): improve stop decision in out_of_lane #615

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3 changes: 1 addition & 2 deletions ..._planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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