From ac9badf967171e5c4cc3d4f6cf5a67e5f66cc8eb Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Tue, 11 Jun 2024 18:40:25 +0900
Subject: [PATCH] Make a certain scenario succeed

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 .../static_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_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index 24e88c8ed6..4d1d35834f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -93,9 +93,9 @@
           th_moving_time: 1.0
           longitudinal_margin: 1.0
           lateral_margin:
-            soft_margin: 0.7
-            hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            soft_margin: 0.2
+            hard_margin: 0.1
+            hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
         lower_distance_for_polygon_expansion: 30.0      # [m] FOR DEVELOPER