From 4e5c3b3a4ec92b501073e90da9014f9b68414413 Mon Sep 17 00:00:00 2001 From: beyza Date: Mon, 30 Sep 2024 20:22:09 +0300 Subject: [PATCH] fix(static_obstacle_avoidance): lower longitudinal margin to handle dense urban scenarios Signed-off-by: beyza --- .../static_obstacle_avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml index 6dc57d3ce1..3480bb66e5 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -76,7 +76,7 @@ bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 1.0 + longitudinal_margin: 0.6 lateral_margin: soft_margin: 0.7 hard_margin: 0.5 @@ -87,7 +87,7 @@ motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 - longitudinal_margin: 1.0 + longitudinal_margin: 0.6 lateral_margin: soft_margin: 0.5 hard_margin: 0.3 @@ -98,7 +98,7 @@ pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 - longitudinal_margin: 1.0 + longitudinal_margin: 0.6 lateral_margin: soft_margin: 0.7 hard_margin: 0.5