From 5146002a24126974a44ad9df5e7559b7607615ea Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 22 Aug 2023 19:49:42 +0900 Subject: [PATCH] feat(goal_planner): add extra front margin for collision check considering stopping distance (#520) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 * object_recognition_collision_check_margin: 0.6 Signed-off-by: kosuke55 * rename args and params Signed-off-by: kosuke55 * add comments Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index eaa103bff7..cd2bc6168d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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: