Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(avoidance): additional buffer for perception noise #373

Merged
merged 1 commit into from
Jun 15, 2023
Merged

feat(avoidance): additional buffer for perception noise #373

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 14 additions & 4 deletions ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,45 +28,55 @@
# avoidance is performed for the object type with true
target_object:
car:
enable: true
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
enable: true # [-]
max_expand_ratio: 0.0 # [-]
envelope_buffer_margin: 0.3 # [m]
safety_buffer_lateral: 0.7 # [m]
safety_buffer_longitudinal: 0.0 # [m]
truck:
enable: true
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
bus:
enable: true
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
trailer:
enable: true
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
unknown:
enable: false
max_expand_ratio: 0.0
envelope_buffer_margin: 0.3
safety_buffer_lateral: 0.7
safety_buffer_longitudinal: 0.0
bicycle:
enable: false
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
motorcycle:
enable: false
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
safety_buffer_lateral: 1.0
safety_buffer_longitudinal: 1.0
pedestrian:
enable: false
max_expand_ratio: 0.0
envelope_buffer_margin: 0.8
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]

# For target object filtering
target_filtering:
Expand Down