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feat(avoidance): keep stopping until all shift lines are registered #699

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Dec 1, 2023
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feat(avoidance): keep stopping until all shift lines are registered #699

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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 @@ -231,6 +231,10 @@
stop_buffer: 1.0 # [m]

policy:
# policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver".
# "per_shift_line": request approval for each shift line.
# "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return).
make_approval_request: "per_shift_line"
# policy for vehicle slow down behavior. select "best_effort" or "reliable".
# "best_effort": slow down deceleration & jerk are limited by constraints.
# but there is a possibility that the vehicle can't stop in front of the vehicle.
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