fix(avoidance): increase road shoulder soft margin (0.3 to 0.8m)

Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Oct 27, 2023 · 9ce80a4 · 9ce80a4
1 parent e1f2930
commit 9ce80a4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -161,7 +161,7 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.501          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          soft_road_shoulder_margin: 0.3                # [m]
+          soft_road_shoulder_margin: 0.8                # [m]
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0