feat(avoidance): check if the avoidance path is in drivable area

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Sep 21, 2023 · 4d168f9 · 4d168f9
1 parent b5e6116
commit 4d168f9
Showing 1 changed file with 1 addition and 0 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
@@ -165,6 +165,7 @@
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
+          max_departure_from_lane: 0.5                  # [m]
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]