Add smoothing.extra_arc_length param

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
autowarefoundation · Oct 16, 2023 · f3bb611 · f3bb611
1 parent d963ec2
commit f3bb611
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -13,6 +13,7 @@
       smoothing:
         curvature_average_window: 3  # window size used for smoothing the curvatures using a moving window average
         max_bound_rate: 1.0  # [m/m] maximum rate of change of the bound lateral distance over its arc length
+        extra_arc_length: 2.0  # [m] extra arc length where an expansion distance is initially applied
       ego:
         extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang