From 927534386a16a6a38679173cb7ccc884fe7c74cb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 21 Feb 2022 11:53:27 +0900 Subject: [PATCH] feat(behavior path planner): update params of behavior path for dynamic drivable area (#209) --- .../behavior_path_planner.param.yaml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index fcdcf5c78c..adce0a5088 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -7,8 +7,12 @@ backward_length_buffer_for_end_of_pull_out: 5.0 minimum_lane_change_length: 12.0 minimum_pull_over_length: 16.0 + drivable_area_resolution: 0.1 - drivable_area_width: 100.0 - drivable_area_height: 50.0 + drivable_lane_forward_length: 50.0 + drivable_lane_backward_length: 5.0 + drivable_lane_margin: 1.0 + drivable_area_margin: 6.0 + refine_goal_search_radius_range: 7.5 intersection_search_distance: 30.0