fix(avoidance): tuning shiftable ratio & deviation param

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Feb 10, 2024 · d543098 · d543098
1 parent dace9f5
commit d543098
Showing 1 changed file with 2 additions and 2 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
@@ -127,7 +127,7 @@
         object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
-        object_check_shiftable_ratio: 0.6               # [-]
+        object_check_shiftable_ratio: 0.8               # [-]
         object_check_min_road_shoulder_width: 0.5       # [m]
         # lost object compensation
         object_last_seen_threshold: 2.0
@@ -206,7 +206,7 @@
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
-          max_deviation_from_lane: 0.5                  # [m]
+          max_deviation_from_lane: 0.2                  # [m]
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]