feat(autoware_launch): consider behavior's drivable area violation (#254

) Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Mar 24, 2023 · f01029d · f01029d
1 parent bb54fcf
commit f01029d
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -102,10 +102,11 @@
 
       # avoidance
       avoidance:
-        max_avoidance_cost: 0.5            # [m]
-        avoidance_cost_margin: 0.0         # [m]
-        avoidance_cost_band_length: 5.0    # [m]
-        avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval
+        max_longitudinal_margin_for_bound_violation: 1.0 # [m]
+        max_avoidance_cost: 0.5                          # [m]
+        avoidance_cost_margin: 0.0                       # [m]
+        avoidance_cost_band_length: 5.0                  # [m]
+        avoidance_cost_decrease_rate: 0.05               # decreased cost per point interval
 
         weight:
           lat_error_weight: 0.0     # weight for lateral error