From 0867da29717b26671aacee1678155fedaa263e03 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 23 Jun 2023 00:48:49 +0900 Subject: [PATCH] update config Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 10 ++++++---- 1 file changed, 6 insertions(+), 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 index a4ff684839321..0b8f35bac3131 100644 --- 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]