fix(avoidance): do not check distance between object and goal (autowa…

…refoundation#468) Signed-off-by: Fumiya Watanabe <[email protected]>
TomohitoAndo · Oct 2, 2023 · 440c9f5 · 440c9f5
1 parent 58fd5ee
commit 440c9f5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -120,7 +120,7 @@
         # detection range
         object_check_forward_distance: 150.0            # [m]
         object_check_backward_distance: 10.0            # [m]
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 0.0                 # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
         object_check_shiftable_ratio: 0.6               # [-]
@@ -168,7 +168,7 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          remain_buffer_distance: 30.0                  # [m]
+          remain_buffer_distance: 0.0                   # [m]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]