fix(dynamic_obtacle_avoidance): lower lateral offset to handle dense …

…urban scenarios Signed-off-by: beyza <bnk@leodrive.ai> #1170
autowarefoundation · Oct 1, 2024 · 16eb832 · 16eb832
1 parent 1b54a8d
commit 16eb832
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...are_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/...are_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
@@ -56,10 +56,10 @@
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 1.0 # [m]
-        margin_distance_around_pedestrian: 2.0 # [m]
+        lat_offset_from_obstacle: 0.3 # [m]
+        margin_distance_around_pedestrian: 0.8 # [m]
         predicted_path:
-          end_time_to_consider: 2.0 # [s]
+          end_time_to_consider: 1.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]