From 16eb832076e2a0ec2d19e6a7bb27a739b7b3b795 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 1 Oct 2024 11:07:49 +0300 Subject: [PATCH] fix(dynamic_obtacle_avoidance): lower lateral offset to handle dense urban scenarios Signed-off-by: beyza https://github.com/autowarefoundation/autoware_launch/pull/1170 --- .../dynamic_obstacle_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/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index aa1fdb3048..9bba8c52dc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -56,10 +56,10 @@ object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 1.0 # [m] - margin_distance_around_pedestrian: 2.0 # [m] + lat_offset_from_obstacle: 0.3 # [m] + margin_distance_around_pedestrian: 0.8 # [m] predicted_path: - end_time_to_consider: 2.0 # [s] + end_time_to_consider: 1.0 # [s] threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s]