feat(avoidance): set additional buffer margin independently (autoware…

…foundation#412) Signed-off-by: satoshi-ota <[email protected]>
maxime-clem · Jun 26, 2023 · da90008 · da90008
1 parent ce4608e
commit da90008
Showing 1 changed file with 8 additions and 0 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
@@ -33,6 +33,7 @@
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.3                  # [m]
+          avoid_margin_lateral: 1.0                    # [m]
           safety_buffer_lateral: 0.7                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
@@ -41,6 +42,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
@@ -49,6 +51,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
@@ -57,6 +60,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
@@ -65,6 +69,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
@@ -73,6 +78,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
@@ -81,6 +87,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
@@ -89,6 +96,7 @@
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
+          avoid_margin_lateral: 1.0
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         lower_distance_for_polygon_expansion: 30.0      # [m]