From d54e1ff0aba56bf5b9fbbde93d76d8cb41f26b2d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 7 Jun 2024 13:22:15 +0900 Subject: [PATCH] feat(obstacle_curise): revert lateral stop margin for unknown objects (#7230) Signed-off-by: Yuki Takagi --- .../config/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index 2ccd000657948..08cee3d58152e 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -88,7 +88,7 @@ stop: max_lat_margin: 0.3 # lateral margin between the obstacles except for unknown and ego's footprint - max_lat_margin_against_unknown: -0.3 # lateral margin between the unknown obstacles and ego's footprint + max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]