chore(avoidance): revert avoidance tuning v2.3.2 (autowarefoundation#626

) * need to revert avoidance parameter for some coner cases * revert parameter
maxime-clem · Apr 16, 2024 · b47cb37 · b47cb37
1 parent 1e52fd3
commit b47cb37
Showing 1 changed file with 17 additions and 17 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
@@ -36,8 +36,8 @@
           envelope_buffer_margin: 0.3                  # [m]
           avoid_margin_lateral: 1.0                    # [m]
           safety_buffer_lateral: 0.1                   # [m]
-          safety_buffer_longitudinal: 5.0              # [m]
-          use_conservative_buffer_longitudinal: true  # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
+          safety_buffer_longitudinal: 0.0              # [m]
+          use_conservative_buffer_longitudinal: false  # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           is_target: true
           execute_num: 1
@@ -47,8 +47,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.4
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: false
         bus:
           is_target: true
           execute_num: 1
@@ -58,8 +58,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: false
         trailer:
           is_target: true
           execute_num: 1
@@ -69,8 +69,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: false
         unknown:
           is_target: false
           execute_num: 1
@@ -80,8 +80,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 1.0
           safety_buffer_lateral: 0.7
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 0.0
+          use_conservative_buffer_longitudinal: false
         bicycle:
           is_target: true
           execute_num: 1
@@ -91,8 +91,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 1.0
+          use_conservative_buffer_longitudinal: false
         motorcycle:
           is_target: true
           execute_num: 1
@@ -102,8 +102,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 1.0
+          use_conservative_buffer_longitudinal: false
         pedestrian:
           is_target: true
           execute_num: 1
@@ -113,8 +113,8 @@
           envelope_buffer_margin: 0.3
           avoid_margin_lateral: 0.0
           safety_buffer_lateral: 1.0
-          safety_buffer_longitudinal: 5.0
-          use_conservative_buffer_longitudinal: true
+          safety_buffer_longitudinal: 1.0
+          use_conservative_buffer_longitudinal: false
         lower_distance_for_polygon_expansion: 30.0      # [m]
         upper_distance_for_polygon_expansion: 100.0     # [m]
 
@@ -166,7 +166,7 @@
       avoidance:
         # avoidance lateral parameters
         lateral:
-          lateral_execution_threshold: 0.5             # [m]
+          lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
           soft_road_shoulder_margin: 0.3                # [m]