feat(autoware_launch): use hatched road markings in dynamic avoidance (…

…#504) * feat(autoware_launch): add use_hatched_road_markings in dynamic_avoidance Signed-off-by: Takayuki Murooka <[email protected]> * add parameters Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Aug 8, 2023 · dfba24c · dfba24c
1 parent 1bd4808
commit dfba24c
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -3,6 +3,7 @@
     dynamic_avoidance:
       common:
         enable_debug_info: true
+        use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
       target_object:
@@ -43,6 +44,8 @@
       drivable_area_generation:
         lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
+        max_time_for_object_lat_shift: 0.0 # [s]
+        lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
 
         # for same directional object
         overtaking_object:
@@ -53,6 +56,6 @@
 
         # for opposite directional object
         oncoming_object:
-          max_time_to_collision: 15.0 # [s]
+          max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
           start_duration_to_avoid: 12.0  # [s]
           end_duration_to_avoid: 0.0  # [s]