From 4f2eb9c6618af5d011905477a41ab17b54cd62c4 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Sat, 7 Oct 2023 11:38:56 +0900 Subject: [PATCH] fix(autoware_launch): tune avoidance clearance pedestrian v2.3.0 (#478) tune avoidance clearance for pedestrian --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 9c74062618..956a786da7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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]