fix(autoware_launch): tune avoidance clearance for pedestrian (autowa…

…refoundation#477) tune avoidance clearance for pedestrian
maxime-clem · Jun 25, 2024 · 6d5fe21 · 6d5fe21
1 parent 3f0b5ce
commit 6d5fe21
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
@@ -78,7 +78,7 @@
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.5
+          safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
           enable: false
@@ -87,7 +87,7 @@
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.5
+          safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
           enable: false
@@ -96,7 +96,7 @@
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           avoid_margin_lateral: 0.0
-          safety_buffer_lateral: 1.5
+          safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         lower_distance_for_polygon_expansion: 30.0      # [m]
         upper_distance_for_polygon_expansion: 100.0     # [m]