From feaa649ab31ffe851dfd135c6a16e51281899afb Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 2 Aug 2024 07:54:55 +0900 Subject: [PATCH] feat(out_of_lane): add lateral buffer between the lane and stop pose (#524) feat(out_of_lane): add lateral buffer between the lane and stop pose (#1098) Signed-off-by: Maxime CLEMENT --- .../motion_velocity_planner/out_of_lane.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml index a4d2ee8c70..d7d28b7066 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -29,7 +29,8 @@ action: # action to insert in the path if an object causes a conflict at an overlap skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path - distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle + lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap