From d54309873e8b8e9775372b397a1a4c7ef97b126b Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Fri, 2 Feb 2024 16:31:30 +0900 Subject: [PATCH] fix(avoidance): tuning shiftable ratio & deviation param 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 52724cdda0..49978d07d2 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 @@ -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]