From 94ffca2487ec21978d3c9b7b7f3559fe095d8080 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sat, 22 Jul 2023 15:13:04 +0900 Subject: [PATCH] refactor(avoidance): parameterize magic number (#426) Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 2330c7c9e8a8d..15aa6443905eb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -138,6 +138,7 @@ lateral: lateral_execution_threshold: 0.09 # [m] lateral_small_shift_threshold: 0.101 # [m] + lateral_avoid_check_threshold: 0.1 # [m] road_shoulder_safety_margin: 0.3 # [m] max_right_shift_length: 5.0 max_left_shift_length: 5.0