From df4d43596c9e3e3eca468f29468446d39110f22b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 11 Mar 2024 16:52:37 +0900 Subject: [PATCH] fix(avoidance): tune lateral margin params (#913) Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 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 6650df56e1..c72033dd7c 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 @@ -30,9 +30,9 @@ moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 2.0 # [s] lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.5 # [m] safety_buffer_longitudinal: 0.0 # [m] @@ -42,9 +42,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 @@ -54,9 +54,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0 @@ -66,9 +66,9 @@ moving_speed_threshold: 1.0 # 3.6km/h moving_time_threshold: 2.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 safety_buffer_longitudinal: 0.0