From 0c5fe943295824931066dee1e1a4154fe1861799 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 10 Aug 2023 19:10:03 +0900 Subject: [PATCH] chore(avoidance): change road_shoulder_safety_margin from 0.5 to 0.3 (#601) Signed-off-by: tomoya.kimura --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 3008dcaeab..447766ef3a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -154,7 +154,7 @@ lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.501 # [m] lateral_avoid_check_threshold: 0.1 # [m] - road_shoulder_safety_margin: 0.5 # [m] + road_shoulder_safety_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0 # avoidance distance parameters