From 69e0fcd40660471327c9f3fd22686409728f59ae Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Fri, 24 Nov 2023 13:53:30 +0900 Subject: [PATCH] feat(goal_planner): add tiem hysteresis to keep unsafe Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 295c9caf84..d04676f365 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -160,6 +160,7 @@ safety_check_params: # safety check configuration enable_safety_check: false # Don't set to true if auto_mode is enabled + keep_unsafe_time: 3.0 # collision check parameters check_all_predicted_path: true publish_debug_marker: false