update config

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Jun 23, 2023 · 0867da2 · 0867da2
1 parent 4121974
commit 0867da2
Showing 1 changed file with 6 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml b/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -12,21 +12,23 @@
         motorcycle: true
         pedestrian: false
 
-        min_obstacle_vel: 1.0 # [m/s]
+        min_obstacle_vel: 0.0 # [m/s]
+
+        successive_num_to_entry_dynamic_avoidance_condition: 5
 
       drivable_area_generation:
-        lat_offset_from_obstacle: 1.3 # [m]
+        lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
 
         # for same directional object
         overtaking_object:
           max_time_to_collision: 3.0 # [s]
           start_duration_to_avoid: 4.0  # [s]
-          end_duration_to_avoid: 5.0  # [s]
+          end_duration_to_avoid: 8.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
           max_time_to_collision: 3.0 # [s]
-          start_duration_to_avoid: 9.0  # [s]
+          start_duration_to_avoid: 12.0  # [s]
           end_duration_to_avoid: 0.0  # [s]