fix(autoware_launch): tune avoidance clearance (#444)

Tune avoidance clearance
tier4 · Jun 25, 2024 · 2f2a821 · 2f2a821
1 parent f8c6ff9
commit 2f2a821
Showing 1 changed file with 14 additions and 7 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
@@ -33,31 +33,35 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
-          safety_buffer_lateral: 0.7                   # [m]
+          avoid_margin_lateral: 0.0                    # [m]
+          safety_buffer_lateral: 0.8                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
           enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          safety_buffer_lateral: 0.7
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          safety_buffer_lateral: 0.7
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
-          safety_buffer_lateral: 0.7
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 0.8
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
@@ -73,23 +77,26 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          safety_buffer_lateral: 1.0
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 1.5
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          safety_buffer_lateral: 1.0
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 1.5
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
-          safety_buffer_lateral: 1.0
+          avoid_margin_lateral: 0.0
+          safety_buffer_lateral: 1.5
           safety_buffer_longitudinal: 1.0
         lower_distance_for_polygon_expansion: 30.0      # [m]
         upper_distance_for_polygon_expansion: 100.0     # [m]