From 9ef7c4e332dcf43cd4764c6d23a860d12f7b2b68 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim Date: Tue, 3 Sep 2024 16:02:36 +0300 Subject: [PATCH] fix(static_obstacle_avoidance): lower lateral soft margin to handle dense urban scenarios Signed-off-by: Ahmed Ebrahim --- .../static_obstacle_avoidance.param.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 7cc858fb32..eeaf84d5ff 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -23,7 +23,7 @@ th_moving_time: 2.0 # [s] longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.7 # [m] + soft_margin: 0.5 # [m] hard_margin: 0.2 # [m] hard_margin_for_parked_vehicle: 0.2 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER @@ -34,7 +34,7 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.2 hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 @@ -45,7 +45,7 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.2 hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 @@ -56,7 +56,7 @@ th_moving_time: 2.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.2 hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0 @@ -67,7 +67,7 @@ th_moving_time: 1.0 longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: -0.2 hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 @@ -89,7 +89,7 @@ th_moving_time: 1.0 longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 + soft_margin: 0.5 hard_margin: 0.3 hard_margin_for_parked_vehicle: 0.2 max_expand_ratio: 0.0