From 92056f55ffe0a9f2e8b6b82ba41058cf1e298693 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Sat, 23 Dec 2023 18:20:28 +0900 Subject: [PATCH] fix(avoidance): expand safety check polygon lateral margin Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 e956c8e45f..0618185dcf 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 @@ -189,7 +189,7 @@ expected_rear_deceleration: -1.0 # [m/ss] rear_vehicle_reaction_time: 2.0 # [s] rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 0.75 # [m] + lateral_distance_max_threshold: 2.0 # [m] longitudinal_distance_min_threshold: 3.0 # [m] longitudinal_velocity_delta_time: 0.8 # [s]