feat(behavior_path_planner): add drivable_area linestrings for dynamic (

#660) drivable area expansion Signed-off-by: Makoto Kurihara <[email protected]>
tier4 · Jun 25, 2024 · f582a70 · f582a70
1 parent 2d422c4
commit f582a70
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -44,6 +44,7 @@
         types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
           - road_border
           - curbstone
+          - drivable_area
         distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
         compensate:
           enable: false  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction