feat(behavior path planner): update params of behavior path for dynam…

…ic drivable area (#209) (#212) Co-authored-by: Takayuki Murooka <[email protected]>
tier4 · Feb 24, 2022 · 31e8f17 · 31e8f17
2 parents 2f842a8 + 9275343
commit 31e8f17
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -7,8 +7,12 @@
     backward_length_buffer_for_end_of_pull_out: 5.0
     minimum_lane_change_length: 12.0
     minimum_pull_over_length: 16.0
+
     drivable_area_resolution: 0.1
-    drivable_area_width: 100.0
-    drivable_area_height: 50.0
+    drivable_lane_forward_length: 50.0
+    drivable_lane_backward_length:  5.0
+    drivable_lane_margin: 1.0
+    drivable_area_margin: 6.0
+
     refine_goal_search_radius_range: 7.5
     intersection_search_distance: 30.0