From f8745eebfec6a1a8c980a78dd35dc5308dcc657d Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 14 Sep 2023 23:34:45 +0900 Subject: [PATCH] feat: enable unknown avoidance and change some parameters (#631) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/avoidance/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/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 0e694c13ee..09e1845572 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 @@ -73,9 +73,9 @@ moving_speed_threshold: 0.28 # 1.0km/h moving_time_threshold: 1.0 max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 + envelope_buffer_margin: 0.1 avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.3 + safety_buffer_lateral: -0.2 safety_buffer_longitudinal: 0.0 bicycle: is_target: true