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feat(out_of_lane): add 'use_map_stop_lines' parameter #1259

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feat(out_of_lane): add 'use_map_stop_lines' parameter #1259

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1 change: 1 addition & 0 deletions ...ario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
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Expand Up @@ -18,6 +18,7 @@
ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored

action: # action to insert in the trajectory if an object causes a conflict at an overlap
use_map_stop_lines: true # if true, try to stop at stop lines defined in the vector map
precision: 0.1 # [m] precision when inserting a stop pose in the trajectory
longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle
lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle
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