feat(goal_planner): add extra front margin for collision check consid…

…ering stopping distance (autowarefoundation#520) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 <[email protected]> * object_recognition_collision_check_margin: 0.6 Signed-off-by: kosuke55 <[email protected]> * rename args and params Signed-off-by: kosuke55 <[email protected]> * add comments Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
soblin · Sep 4, 2023 · 5146002 · 5146002
1 parent d9284f0
commit 5146002
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -31,7 +31,8 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        object_recognition_collision_check_margin: 1.0
+        object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
+        object_recognition_collision_check_max_extra_stopping_margin: 1.0
 
       # pull over
       pull_over: