From 1fd0a343ad57b80fe629acbd44a143e38981e43f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 30 Jun 2023 15:44:34 +0900 Subject: [PATCH] feat(avoidance): update avoidance params (#424) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index a1a864327d..da87873533 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -132,7 +132,7 @@ avoidance: # avoidance lateral parameters lateral: - lateral_execution_threshold: 0.499 # [m] + lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] road_shoulder_safety_margin: 0.3 # [m] max_right_shift_length: 5.0 @@ -156,7 +156,7 @@ constraints: # vehicle slows down under longitudinal constraints - use_constraints_for_decel: false # [-] + use_constraints_for_decel: true # [-] # lateral constraints lateral: @@ -181,7 +181,7 @@ shift_line_pipeline: trim: - quantize_filter_threshold: 0.2 + quantize_filter_threshold: 0.1 same_grad_filter_1_threshold: 0.1 same_grad_filter_2_threshold: 0.2 same_grad_filter_3_threshold: 0.5