From cb9cb364b3a75d383c2ba7bf0ea900908dc5ca08 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 8 Sep 2023 12:13:55 +0900 Subject: [PATCH] fix(avoidance): increase road shoulder soft margin (0.5 to 0.8m) (#625) Signed-off-by: satoshi-ota --- .../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 00194b33b9..ec21360d2f 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 @@ -154,7 +154,7 @@ 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