avoid ped

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
autowarefoundation · Apr 18, 2024 · e6a70e5 · e6a70e5
1 parent 6d1436f
commit e6a70e5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/...ng/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -58,8 +58,8 @@
         lat_offset_from_obstacle: 1.0 # [m]
         margin_distance_around_pedestrian: 2.0 # [m]
         predicted_path:
-          end_time_to_consider: 3.0 # [s]
-          threshold_confidence: 0.3 # [] not probability
+          end_time_to_consider: 2.0 # [s]
+          threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]