From 9ce80a4b92dab79a4bd116907f9fb389beafb998 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Fri, 27 Oct 2023 18:22:02 +0900 Subject: [PATCH] fix(avoidance): increase road shoulder soft margin (0.3 to 0.8m) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 d206a9a588..0e694c13ee 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 @@ -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