feat(planning_launch): add new param to avoidance.param.yaml (autowar…

…efoundation#569) * feat(planning_launch): add new param to avoidance.param.yaml Signed-off-by: satoshi-ota <[email protected]> * fix(planning_launch): reorder params for readability Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: satoshi-ota <[email protected]>
TomohitoAndo · Dec 2, 2022 · c746037 · c746037
1 parent fa3ebc1
commit c746037
Showing 1 changed file with 9 additions and 1 deletion.
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
@@ -10,11 +10,19 @@
       enable_avoidance_over_same_direction: true
       enable_avoidance_over_opposite_direction: true
 
-      threshold_distance_object_is_on_center: 1.0 # [m]
+      # For target object filtering
       threshold_speed_object_is_stopped: 1.0      # [m/s]
       threshold_time_object_is_moving: 1.0        # [s]
+
       object_check_forward_distance: 150.0        # [m]
       object_check_backward_distance: 2.0         # [m]
+
+      threshold_distance_object_is_on_center: 1.0 # [m]
+
+      object_check_shiftable_ratio: 0.6           # [-]
+      object_check_min_road_shoulder_width: 0.5   # [m]
+
+      # For lateral margin
       object_envelope_buffer: 0.3                 # [m]
       lateral_collision_margin: 1.0               # [m]
       lateral_collision_safety_buffer: 0.7        # [m]