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planning/behavior_path_avoidance_module/config
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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 : 0.5 # [m]
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- # approve next shift line after reaching this percentage of current shift line length.
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- # this param is added so that it can wait return shift approval until the behind occlusion of avoid target is clear.
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- # it's able to disable this feature by setting this param 0.0.
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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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