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Reckless and cautious behavioral profiles

To achieve distinct behavioral profiles, you can change the default values of the following parameters:

  • safety_distance_lon

  • min_response_time

  • lon_ca_cautious_factor

Following are the behavioral profiles you can achieve:

  • Cautious: When these values are large, the actor will keep a long distance from front obstacles and will start braking early, regardless of the obstacle’s behavior (accelerating or decelerating).

  • Reckless: When these values are small, the actor will not keep a lot of distance from front obstacles and will brake at the last moment (or even after that) and will act only if the obstacle is decelerating.

For lateral changes in behavior, you can change the following parameters:

  • safety_distance_lat

  • lat_speed_factor (a parameter of the obstacle sensor)

As with the parameters above, for larger values, the actor will be more cautious, and for smaller values, the actor will be more reckless.

See the table in the collision_avoidance_behavior section for descriptions of the parameters.