Merge pull request autowarefoundation#427 from tier4/scenario-sim-param

chore: update scenario parameters (autowarefoundation#415)

.webauto-ci.yml

@@ -194,23 +194,23 @@ scenario_parameter_groups:
   # Necessary to update the parameters for each vehicle type
   - name: common
     parameters:
-      __ego_center_x__: 1.345
+      __ego_center_x__: 2.08875 # ego_dimensions_length / 2.0 - rear_overhang
       __ego_center_y__: 0
-      __ego_center_z__: 1.25
-      __ego_dimensions_width__: 1.896
-      __ego_dimensions_length__: 4.89
-      __ego_dimensions_height__: 2.5
-      wheel_radius: 0.383
-      wheel_width: 0.235
-      wheel_base: 2.79 # between front wheel center and rear wheel center
-      wheel_tread: 1.64 # between left wheel center and right wheel center
-      front_overhang: 1.0 # between front wheel center and vehicle front
-      rear_overhang: 1.1 # between rear wheel center and vehicle rear
-      left_overhang: 0.128 # between left wheel center and vehicle left
-      right_overhang: 0.128 # between right wheel center and vehicle right
-      max_steer_angle: 0.70 # [rad]
-      obstacle_stop_line_distance: 5.0
+      __ego_center_z__: 1.54 # ego_dimensions_height / 2.0
+      __ego_dimensions_width__: 2.3 # wheel_tread + left_overhang + right_overhang
+      __ego_dimensions_length__: 7.1734 # wheel_base + front_overhang + rear_overhang
+      __ego_dimensions_height__: 3.06
+      wheel_radius: 0.3725
+      wheel_width: 0.215
+      wheel_base: 4.76 # between front wheel center and rear wheel center
+      wheel_tread: 1.754 # front:1.754 rear:1.564 between left wheel center and right wheel center
+      front_overhang: 0.9154 # between front wheel center and vehicle front
+      rear_overhang: 1.498 # between rear wheel center and vehicle rear
+      left_overhang: 0.273 # 1.150-2.08/2 between left wheel center and vehicle left
+      right_overhang: 0.273 # between right wheel center and vehicle right
+      max_steer_angle: 0.646 # [rad]
+      obstacle_stop_line_distance: 6.0
       crosswalk_stop_line_distance: 3.5
-      walkway_stop_line_distance: 3.5
+      walkway_stop_line_distance: 0.0
       intersection_stop_line_distance: 3.0
       traffic_light_stop_line_distance: 0.0