From 0f7a87d62ef57f40f494c76c59aa6ee204e5b0e4 Mon Sep 17 00:00:00 2001 From: beyza Date: Mon, 30 Sep 2024 20:20:45 +0300 Subject: [PATCH] fix(dynamic_obtacle_avoidance): lower lateral offset for pedestrian to handle dense urban scenarios Signed-off-by: beyza --- .../dynamic_obstacle_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/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index 39b661bd4b..9bba8c52dc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -57,9 +57,9 @@ min_longitudinal_polygon_margin: 3.0 # [m] lat_offset_from_obstacle: 0.3 # [m] - margin_distance_around_pedestrian: 2.0 # [m] + margin_distance_around_pedestrian: 0.8 # [m] predicted_path: - end_time_to_consider: 2.0 # [s] + end_time_to_consider: 1.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s]