Merge pull request #270 from tier4/hotfix/v0.20.0/start_planner

Hotfix/v0.20.0/start planner
tier4 · Jan 12, 2024 · d3de2b9 · d3de2b9
2 parents 69f92e1 + 57524f1
commit d3de2b9
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -5,8 +5,9 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
-      collision_check_margin: 1.0
+      collision_check_margins: [2.0, 1.0, 0.5, 0.1]
       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