feat(avoidance): reduce road shoulder margin if lateral distance is n…

…ot enough to avoid (#513) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Aug 15, 2023 · 6ea8c13 · 6ea8c13
1 parent 05f55d3
commit 6ea8c13
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -154,7 +154,8 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          road_shoulder_safety_margin: 0.3              # [m]
+          soft_road_shoulder_margin: 0.3                # [m]
+          hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
         # avoidance distance parameters