feat: enable unknown avoidance and change some parameters (autowarefo…

…undation#631) Signed-off-by: tomoya.kimura <[email protected]>
soblin · Sep 14, 2023 · e131702 · e131702
1 parent 8f67e02
commit e131702
Showing 1 changed file with 3 additions and 3 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
@@ -70,14 +70,14 @@
           safety_buffer_lateral: 0.1
           safety_buffer_longitudinal: 0.0
         unknown:
-          is_target: false
+          is_target: true
           execute_num: 1
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.5
+          envelope_buffer_margin: 0.1
           avoid_margin_lateral: 0.7
-          safety_buffer_lateral: 0.3
+          safety_buffer_lateral: -0.2
           safety_buffer_longitudinal: 0.0
         bicycle:
           is_target: true