feat(avoidance): update road shoulder margin (autowarefoundation#509)

feat(avoidance): tune avoidance margin Signed-off-by: kminoda <[email protected]>
maxime-clem · Oct 23, 2023 · ef67413 · ef67413
1 parent b0818b5
commit ef67413
Showing 1 changed file with 2 additions and 2 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
@@ -161,8 +161,8 @@
           lateral_execution_threshold: 0.09             # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           lateral_avoid_check_threshold: 0.1            # [m]
-          soft_road_shoulder_margin: 0.8                # [m]
-          hard_road_shoulder_margin: 0.8                # [m]
+          soft_road_shoulder_margin: 0.3                # [m]
+          hard_road_shoulder_margin: 0.3                # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
           max_deviation_from_lane: 0.5                  # [m]