From ccfa88ab198073c6f4eb7348ca8174c2acd55b3c Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 29 Nov 2022 09:08:03 +0900 Subject: [PATCH] fix(tier4_planning_launch): reorder params for readability Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) 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 95f8f4afd50b2..286c6f2c8fe75 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 @@ -10,13 +10,19 @@ enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true - threshold_distance_object_is_on_center: 1.0 # [m] + # For target object filtering threshold_speed_object_is_stopped: 1.0 # [m/s] threshold_time_object_is_moving: 1.0 # [s] + object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] + + threshold_distance_object_is_on_center: 1.0 # [m] + object_check_shiftable_ratio: 0.6 # [-] object_check_min_road_shoulder_width: 0.5 # [m] + + # For lateral margin object_envelope_buffer: 0.3 # [m] lateral_collision_margin: 1.0 # [m] lateral_collision_safety_buffer: 0.7 # [m]