feat(behavior_path_planner): add curbstone to avoid linestring (autow…

…arefoundation#398) Signed-off-by: Makoto Kurihara <[email protected]>
maxime-clem · Sep 5, 2023 · aebafc9 · aebafc9
1 parent e2a6ef4
commit aebafc9
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -31,6 +31,7 @@
       avoid_linestring:
         types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
           - road_border
+          - curbstone
         distance: 0.3 # [m] distance to keep between the drivable area and the linestrings to avoid
         compensate:
           enable: false  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction