fix(avoidance): tune lateral margin params (autowarefoundation#913)

Signed-off-by: satoshi-ota <[email protected]>
maxime-clem · Mar 11, 2024 · df4d435 · df4d435
1 parent efae483
commit df4d435
Showing 1 changed file with 12 additions and 12 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
@@ -30,9 +30,9 @@
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 2.0                   # [s]
           lateral_margin:
-            soft_margin: 0.7                           # [m]
-            hard_margin: 0.3                           # [m]
-            hard_margin_for_parked_vehicle: 0.3        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
           envelope_buffer_margin: 0.5                  # [m]
           safety_buffer_longitudinal: 0.0              # [m]
@@ -42,9 +42,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -54,9 +54,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0
@@ -66,9 +66,9 @@
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           lateral_margin:
-            soft_margin: 0.9                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.3                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           safety_buffer_longitudinal: 0.0