Merge pull request autowarefoundation#492 from tier4/hotfix/avoidance

feat(avoidance): check if the avoidance path is in drivable area (autowarefoundation#584)
maxime-clem · Oct 13, 2023 · ed5a2d8 · ed5a2d8
2 parents f18ef3a + d89e1e6
commit ed5a2d8
Showing 1 changed file with 1 addition and 6 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
@@ -165,6 +165,7 @@
           hard_road_shoulder_margin: 0.8                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
+          max_deviation_from_lane: 0.5                  # [m]
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
@@ -215,12 +216,6 @@
           max_jerk: 1.0                                 # [m/sss]
           max_acceleration: 1.0                         # [m/ss]
 
-      target_velocity_matrix:
-        col_size: 2
-        matrix:
-          [2.78, 13.9,                                  # velocity [m/s]
-           0.50, 1.00]                                  # margin [m]
-
       shift_line_pipeline:
         trim:
           quantize_filter_threshold: 0.1