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chore: sync awf-latest #327

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Feb 27, 2024
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chore: sync awf-latest #327

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4 changes: 4 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,10 @@
max_right_shift_length: 5.0
max_left_shift_length: 5.0
max_deviation_from_lane: 0.2 # [m]
# approve the next shift line after reaching this percentage of the current shift line length.
# this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
# this feature can be disabled by setting this parameter to 0.0.
ratio_for_return_shift_approval: 0.5 # [-]
# avoidance distance parameters
longitudinal:
min_prepare_time: 1.0 # [s]
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