From 1c9530bfb260f0b71755d311a12cd1c590618004 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 7 Mar 2024 17:09:44 +0900 Subject: [PATCH] feat(start_planner): prevent hindering rear vehicles (#905) Add params to add extra margin to rear vehicle width Signed-off-by: Daniel Sanchez --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 2d50f39d72..41e4f90bbc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,7 @@ th_stopped_time: 1.0 collision_check_margins: [2.0, 1.0, 0.5, 0.1] collision_check_margin_from_front_object: 5.0 + extra_width_margin_for_rear_obstacle: 0.5 th_moving_object_velocity: 1.0 object_types_to_check_for_path_generation: check_car: true