avoidance.param.yaml

# see AvoidanceParameters description in avoidance_module_data.hpp for description.
/**:
  ros__parameters:
    avoidance:
      resample_interval_for_planning: 0.3
      resample_interval_for_output: 4.0
      detection_area_right_expand_dist: 0.0
      detection_area_left_expand_dist: 1.0

      enable_avoidance_over_same_direction: true
      enable_avoidance_over_opposite_direction: true

      threshold_distance_object_is_on_center: 1.0 # [m]
      threshold_speed_object_is_stopped: 1.0      # [m/s]
      object_check_forward_distance: 150.0        # [m]
      object_check_backward_distance: 2.0         # [m]
      lateral_collision_margin: 1.0               # [m]
      lateral_collision_safety_buffer: 0.7        # [m]

      prepare_time: 2.0                           # [s]
      min_prepare_distance: 1.0                   # [m]
      min_avoidance_distance: 10.0                # [m]

      min_nominal_avoidance_speed: 7.0  # [m/s]
      min_sharp_avoidance_speed: 1.0    # [m/s]

      road_shoulder_safety_margin: 0.5 # [m]

      max_right_shift_length: 5.0
      max_left_shift_length: 5.0

      nominal_lateral_jerk: 0.2   # [m/s3]
      max_lateral_jerk: 1.0       # [m/s3]

      object_hold_max_count: 20

      # For prevention of large acceleration while avoidance
      min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
      max_avoidance_acceleration: 0.5  # [m/s2]

      # for debug
      publish_debug_marker: false
      print_debug_info: false

      # not enabled yet
      longitudinal_collision_margin_min_distance: 0.0          # [m]
      longitudinal_collision_margin_time: 0.0