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feat(avoidance): wait next shift approval until the ego reaches shift length threshold (autowarefoundation#891)
* feat(avoidance): wait next shift approval until the ego reaches shift length threshold Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): param description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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  • autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance

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autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

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max_right_shift_length: 5.0
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max_left_shift_length: 5.0
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max_deviation_from_lane: 0.2 # [m]
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# approve the next shift line after reaching this percentage of the current shift line length.
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# this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
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# this feature can be disabled by setting this parameter to 0.0.
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ratio_for_return_shift_approval: 0.5 # [-]
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# avoidance distance parameters
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longitudinal:
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min_prepare_time: 1.0 # [s]

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