update params

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml

@@ -4,11 +4,17 @@
       stop_on_time_buffer: 0.5   # [s] successive collision detection time required to start the stopping decision
       stop_off_time_buffer: 1.0  # [s] successive non-collision detection time required to remove a stopping decision
       ego_time_interval_expansion: 0.2  # [s] time to add to the ego time interval (on both the start and end times)
-      stop_distance_buffer: 2.0   # [m] longitudinal safety distance to keep between ego and the collision position
+      stop_distance_buffer: 2.0  # [m] longitudinal safety distance to keep between ego and the collision position
       enable_passing_collisions: true  # If true, a collision where ego arrives first is ignored
       passing_collisions_time_margin: 0.5  # [s] required time margin to decide a passing_collision
       collision_time_margin: 0.5  # [s]
 
+      passing:  # ignore collisions if ego passes first and the object is the one that should stop
+        enable: false # If true, a collision where ego arrives first is ignored
+        time_margin: 0.5  # [s] margin to decide if ego passes first (higher is more conservative)
+        disable_within_min_stop_duration: true  # if true, collisions are not ignored if happening within the minimum duration required to stop ego comfortably
+        disable_extra_duration_buffer: 1.0  # [s] extra duration
+
       ego:
         # additional margins to calculate the ego footprint used for collision detection
         lateral_margin: 0.0 # [m] extra lateral margin