From bf99fc18149d023ef057db89ff2cb4f02e2f3953 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 16:07:35 +0900 Subject: [PATCH] feat: add use_conservative_buffer_longitudinal in avoidance Signed-off-by: Takayuki Murooka --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 fe9c37d200..ea75fc9cb4 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 @@ -37,6 +37,7 @@ avoid_margin_lateral: 1.0 # [m] safety_buffer_lateral: 0.7 # [m] safety_buffer_longitudinal: 0.0 # [m] + use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: is_target: true execute_num: 1 @@ -47,6 +48,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true bus: is_target: true execute_num: 1 @@ -57,6 +59,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true trailer: is_target: true execute_num: 1 @@ -67,6 +70,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true unknown: is_target: true execute_num: 1 @@ -77,6 +81,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 + use_conservative_buffer_longitudinal: true bicycle: is_target: true execute_num: 1 @@ -87,6 +92,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true motorcycle: is_target: true execute_num: 1 @@ -97,6 +103,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true pedestrian: is_target: true execute_num: 1 @@ -107,6 +114,7 @@ avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 + use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] upper_distance_for_polygon_expansion: 100.0 # [m]