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fix(static_obstacle_avoidance): cherry pick avoidance PRs #517

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merged 2 commits into from
Jul 31, 2024
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fix(static_obstacle_avoidance): cherry pick avoidance PRs #517

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679006c
feat(static_obstacle_avoidance): add new option to change policy (#1065)
satoshi-ota Jul 10, 2024
671eca2
fix(static_obstacle_avoidance): check stopped time in freespace (#1074)
satoshi-ota Jul 16, 2024
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14 changes: 12 additions & 2 deletions ...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -138,8 +138,11 @@

# params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
avoidance_for_ambiguous_vehicle:
enable: true # [-]
closest_distance_to_wait_and_see: 10.0 # [m]
# policy for ego behavior for ambiguous vehicle.
# "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically.
# "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode.
# "ignore" : never avoid it.
policy: "auto" # [-]
condition:
th_stopped_time: 3.0 # [s]
th_moving_distance: 1.0 # [m]
Expand All @@ -149,11 +152,18 @@
crosswalk:
front_distance: 30.0 # [m]
behind_distance: 30.0 # [m]
wait_and_see:
target_behaviors: ["MERGING", "DEVIATING"] # [-]
th_closest_distance: 10.0 # [m]

# params for filtering objects that are in intersection
intersection:
yaw_deviation: 0.349 # [rad] (default 20.0deg)

freespace:
condition:
th_stopped_time: 5.0 # [-]

# For safety check
safety_check:
# safety check target type
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