Merge pull request autowarefoundation#815 from tier4/hotfix/v0.44.5/a…

…voidance fix(avoidance): wait and see objects (autowarefoundation#925)
maxime-clem · Mar 20, 2024 · 595dd0e · 595dd0e
2 parents 7a36a00 + 730efde
commit 595dd0e
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -158,8 +158,10 @@
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
         avoidance_for_ambiguous_vehicle:
           enable: true                                   # [-]
-          time_threshold: 3.0                            # [s]
-          distance_threshold: 1.0                        # [m]
+          closest_distance_to_wait_and_see: 10.0         # [m]
+          condition:
+            time_threshold: 3.0                          # [s]
+            distance_threshold: 1.0                      # [m]
           ignore_area:
             traffic_light:
               front_distance: 100.0                      # [m]