From aa148bb18ac4d42ee40556bf4f67ff5bbdd105ef Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 27 Oct 2023 18:13:13 +0900 Subject: [PATCH] fix(obstacle_cruise_planner): increase lateral margin for obstacle stop (#682) Signed-off-by: satoshi-ota --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index beac82fed4..9beae70757 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -81,7 +81,7 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]