From b19111139577db8134ba87532500145ee34c25d6 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Sat, 1 Jun 2024 08:05:53 +0900 Subject: [PATCH] feat(lane_departure_checker): add params for lane departure margin (#1011) * add params Signed-off-by: Daniel Sanchez * add param for start planner lane departure expansion margin Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../lane_departure_checker/lane_departure_checker.param.yaml | 1 + .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 253737609b..3094edf914 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -16,6 +16,7 @@ # Core footprint_margin_scale: 1.0 + footprint_extra_margin: 0.0 resample_interval: 0.3 max_deceleration: 2.8 delay_time: 1.3 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index f2ba29e926..354a44b629 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -40,6 +40,7 @@ geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 lane_departure_margin: 0.2 + lane_departure_check_expansion_margin: 0.0 backward_velocity: -1.0 pull_out_max_steer_angle: 0.26 # 15deg # search start pose backward