From f63726e4e57885a0e8eb53491f91521160bfae85 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Fri, 16 Feb 2024 20:19:14 +0900
Subject: [PATCH] chore(behavior_velocity_planner): decrease extra_object_width
 for dynamic_obstacle_stop (#776)

* feat(behavior_velocity_planner): decrease extra_object_width for dynamic_obstacle_stop

* Update dynamic_obstacle_stop.param.yaml
---
 .../behavior_velocity_planner/dynamic_obstacle_stop.param.yaml  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
index 14483093e8..9ee465c5f9 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
-      extra_object_width: 1.0  # [m] extra width around detected objects
+      extra_object_width: 0.6  # [m] extra width around detected objects
       minimum_object_velocity: 0.5  # [m/s] objects with a velocity bellow this value are ignored
       stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
       time_horizon: 5.0  # [s] time horizon used for collision checks