From 4da76fe99fe09bcbc3fc83025dfd00ab25cc2fb1 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Fri, 29 Sep 2023 08:59:12 +0900 Subject: [PATCH] Add action.min_duration parameter Signed-off-by: Maxime CLEMENT --- .../behavior_velocity_planner/out_of_lane.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml index 77fa69327a..b55c3b21de 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml @@ -27,6 +27,7 @@ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap velocity: 2.0 # [m/s] slowdown velocity