From 8ac10451f10c7a15164624c34c62448cd87a7ff6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 12 Mar 2024 08:47:06 +0900 Subject: [PATCH] fix(avoidance): tune safety check params (#914) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 c72033dd7c..5fbbfb21f2 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 @@ -192,7 +192,7 @@ check_all_predicted_path: false # [-] safety_check_backward_distance: 100.0 # [m] hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 10 # [-] + hysteresis_factor_safe_count: 3 # [-] # predicted path parameters min_velocity: 1.38 # [m/s] max_velocity: 50.0 # [m/s] @@ -208,7 +208,7 @@ rear_vehicle_safety_time_margin: 1.0 # [s] lateral_distance_max_threshold: 2.0 # [m] longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.8 # [s] + longitudinal_velocity_delta_time: 0.0 # [s] # For avoidance maneuver avoidance: