From 325dc3b68b8f3a28d39e597b6b4fcb09f769f64f Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Thu, 15 Jun 2023 10:19:03 +0900
Subject: [PATCH] feat(avoidance): additional buffer for perception noise
 (#373)

feat(avoidance): additional offset for perception noise

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../avoidance/avoidance.param.yaml             | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 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 20160c465a..13210eb68a 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
@@ -28,45 +28,55 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          enable: true
-          envelope_buffer_margin: 0.3
-          safety_buffer_lateral: 0.7
-          safety_buffer_longitudinal: 0.0
+          enable: true                                 # [-]
+          max_expand_ratio: 0.0                        # [-]
+          envelope_buffer_margin: 0.3                  # [m]
+          safety_buffer_lateral: 0.7                   # [m]
+          safety_buffer_longitudinal: 0.0              # [m]
         truck:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
+          max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
+        lower_distance_for_polygon_expansion: 30.0      # [m]
+        upper_distance_for_polygon_expansion: 100.0     # [m]
 
       # For target object filtering
       target_filtering: