feat(obstacle_stop_planner): change stop distance after goal (autowar…

…efoundation#758) * feat(obstacle_stop/cruise): change stop distance after goal Signed-off-by: kosuke55 <[email protected]> * Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml --------- Signed-off-by: kosuke55 <[email protected]>
tier4 · Dec 26, 2023 · 8057562 · 8057562
1 parent 2447f7c
commit 8057562
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -17,7 +17,7 @@
       # params for stop position
       stop_position:
         max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
-        max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+        max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m]
         min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
         hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]