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feat: add use_conservative_buffer_longitudinal in avoidance #656

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merged 1 commit into from
Oct 25, 2023
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feat: add use_conservative_buffer_longitudinal in avoidance #656

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8 changes: 8 additions & 0 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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]

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