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feat(out_of_lane): add option to ignore overlaps in lane changes #986

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May 13, 2024
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feat(out_of_lane): add option to ignore overlaps in lane changes #986

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1 change: 1 addition & 0 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
@@ -3,6 +3,7 @@
out_of_lane: # module to stop or slowdown before overlapping another lane with other objects
mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored

threshold:
time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time