From 63b3131910631b303095e045e79f3a90ff978e04 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 11 Jan 2024 11:38:33 +0900 Subject: [PATCH] feat(start_planner): keep distance against front objects (#766) Add collision check margin from front object Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 514d61e225..d04728861a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,6 +7,7 @@ th_stopped_time: 1.0 collision_check_margin: 1.0 collision_check_distance_from_end: 1.0 + collision_check_margin_from_front_object: 5.0 th_moving_object_velocity: 1.0 th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0