fix(avoidance): decrease velocity threshold for avoidance target obje…

…cts (autowarefoundation#817) Signed-off-by: satoshi-ota <[email protected]>
tier4 · Jan 24, 2024 · 8b818d4 · 8b818d4
1 parent f5a2875
commit 8b818d4
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
@@ -38,7 +38,7 @@
           use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
-          moving_speed_threshold: 2.0                  # 7.2km/h
+          moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
@@ -48,7 +48,7 @@
           use_conservative_buffer_longitudinal: true
         bus:
           execute_num: 1
-          moving_speed_threshold: 2.0                  # 7.2km/h
+          moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
@@ -58,7 +58,7 @@
           use_conservative_buffer_longitudinal: true
         trailer:
           execute_num: 1
-          moving_speed_threshold: 2.0                  # 7.2km/h
+          moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 2.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5