From 8b818d4ddbe2e5ad16d3f2f4b20bdd08e3694963 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 24 Jan 2024 09:55:38 +0900 Subject: [PATCH] fix(avoidance): decrease velocity threshold for avoidance target objects (#817) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index d540a73940..dfe62a2487 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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