From 91d5417e5d6d60f20bf745e067b60aa21947ae66 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Mon, 3 Jul 2023 18:07:36 +0900 Subject: [PATCH] fix(avoidance): don't output new candidate path if there is huge offset between the ego and previous output path 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 b82282df14..12dc6b9938 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 @@ -127,6 +127,7 @@ safety_check_idling_time: 1.5 # [s] safety_check_accel_for_rss: 2.5 # [m/ss] safety_check_hysteresis_factor: 2.0 # [-] + safety_check_ego_offset: 1.0 # [m] # For avoidance maneuver avoidance: