fix(avoidance): expand safety check polygon lateral margin

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Dec 24, 2023 · 92056f5 · 92056f5
1 parent 6ec1fc7
commit 92056f5
Showing 1 changed file with 1 addition and 1 deletion.
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
@@ -189,7 +189,7 @@
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]
         rear_vehicle_safety_time_margin: 1.0             # [s]
-        lateral_distance_max_threshold: 0.75             # [m]
+        lateral_distance_max_threshold: 2.0              # [m]
         longitudinal_distance_min_threshold: 3.0         # [m]
         longitudinal_velocity_delta_time: 0.8            # [s]