From f582a70ebf1d6c533e719646328f344a26aba3fa Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Thu, 30 May 2024 18:03:29 +0900 Subject: [PATCH] feat(behavior_path_planner): add drivable_area linestrings for dynamic (#660) drivable area expansion Signed-off-by: Makoto Kurihara --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index 2f8676e1bf..7226876c75 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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