fix(autoware_launch): tune avoidance clearance pedestrian v2.3.0 (aut…

…owarefoundation#478) tune avoidance clearance for pedestrian
maxime-clem · Oct 7, 2023 · 4f2eb9c · 4f2eb9c
1 parent 5e8a39e
commit 4f2eb9c
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -84,7 +84,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
@@ -94,7 +94,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
@@ -104,7 +104,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          avoid_margin_lateral: 1.0
+          avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         lower_distance_for_polygon_expansion: 30.0      # [m]