From 440c9f58cecd94d24e96ef21863cfcfb57eacb16 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 3 Oct 2023 00:22:33 +0900 Subject: [PATCH] fix(avoidance): do not check distance between object and goal (#468) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 7bf3ea1884..9c74062618 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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]