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feat(out_of_lane): add lateral buffer between the lane and stop pose #524

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Aug 1, 2024
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feat(out_of_lane): add lateral buffer between the lane and stop pose #524

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3 changes: 2 additions & 1 deletion ...ario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml
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Expand Up @@ -28,7 +28,8 @@
action: # action to insert in the path if an object causes a conflict at an overlap
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
precision: 0.1 # [m] precision when inserting a stop pose in the path
distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle
lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle
min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
slowdown:
distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
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