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feat(planning_launch): add new param to avoidance.param.yaml #569

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Dec 2, 2022
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feat(planning_launch): add new param to avoidance.param.yaml #569

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a3ac632
feat(planning_launch): add new param to avoidance.param.yaml
satoshi-ota Nov 20, 2022
d871c7f
fix(planning_launch): reorder params for readability
satoshi-ota Dec 1, 2022
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10 changes: 9 additions & 1 deletion ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,11 +10,19 @@
enable_avoidance_over_same_direction: true
enable_avoidance_over_opposite_direction: true

threshold_distance_object_is_on_center: 1.0 # [m]
# For target object filtering
threshold_speed_object_is_stopped: 1.0 # [m/s]
threshold_time_object_is_moving: 1.0 # [s]

object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]

threshold_distance_object_is_on_center: 1.0 # [m]

object_check_shiftable_ratio: 0.6 # [-]
object_check_min_road_shoulder_width: 0.5 # [m]

# For lateral margin
object_envelope_buffer: 0.3 # [m]
lateral_collision_margin: 1.0 # [m]
lateral_collision_safety_buffer: 0.7 # [m]
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