From b54502f96aa9ec2eaa3eca8aac6c53a2af3727ff Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Mon, 16 Oct 2023 09:06:27 +0900 Subject: [PATCH] Add smoothing.extra_arc_length param Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index f5f6f12bbe..940bb82a59 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -13,6 +13,7 @@ smoothing: curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length + extra_arc_length: 2.0 # [m] extra arc length where an expansion distance is initially applied ego: extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase extra_front_overhang: 0.5 # [m] extra length to add to the front overhang