fix(static_obstacle_avoidance): lower hard margin for parked NPCs to …

…handle dense urban scenarios Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
autowarefoundation · Sep 2, 2024 · ccd0ae5 · ccd0ae5
1 parent 8869039
commit ccd0ae5
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -25,7 +25,7 @@
           lateral_margin:
             soft_margin: 0.7                            # [m]
             hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.5         # [m]
+            hard_margin_for_parked_vehicle: 0.2         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -36,7 +36,7 @@
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -47,7 +47,7 @@
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -58,7 +58,7 @@
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -80,7 +80,7 @@
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
@@ -91,7 +91,7 @@
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.3
-            hard_margin_for_parked_vehicle: 0.3
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
@@ -102,7 +102,7 @@
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6