From 4d168f9b4326315cc28d4ec1d210f91e25ee12c8 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 21 Sep 2023 16:44:05 +0900 Subject: [PATCH] feat(avoidance): check if the avoidance path is in drivable area Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 c91ec0e88b..19cca9344e 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 @@ -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]