feat(avoidance): check if the avoidance path is in drivable area (#584)

* feat(avoidance): check if the avoidance path is in drivable area Signed-off-by: satoshi-ota <[email protected]> * refactor(avoidance): remove unused param Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
tier4 · Oct 12, 2023 · 198f929 · 198f929
1 parent 9d9eb33
commit 198f929
Showing 1 changed file with 1 addition and 6 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
@@ -169,6 +169,7 @@
           hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
+          max_deviation_from_lane: 0.5                  # [m]
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
@@ -219,12 +220,6 @@
           max_jerk: 1.0                                 # [m/sss]
           max_acceleration: 1.0                         # [m/ss]
 
-      target_velocity_matrix:
-        col_size: 2
-        matrix:
-          [2.78, 13.9,                                  # velocity [m/s]
-           0.50, 1.00]                                  # margin [m]
-
       shift_line_pipeline:
         trim:
           quantize_filter_threshold: 0.1