From 551cb36eeb4ecac0d255d56502c26d056c343eb5 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Sat, 19 Nov 2022 13:57:50 +0900 Subject: [PATCH] feat(tier4_planning_launch): add new params for avoidance Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 61bdf096db52f..2028752088569 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -15,6 +15,8 @@ threshold_time_object_is_moving: 1.0 # [s] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] + object_check_shiftable_ratio: 0.6 # [-] + object_check_min_road_shoulder_width: 0.5 # [m] object_envelope_buffer: 0.3 # [m] lateral_collision_margin: 1.0 # [m] lateral_collision_safety_buffer: 0.7 # [m]