feat(obstacle_stop_planner): add margin behind goal (autowarefoundati…

…on#228) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
keiota · Feb 27, 2023 · 413ea5f · 413ea5f
1 parent bb2cee2
commit 413ea5f
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/...nning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml
@@ -15,9 +15,10 @@
     stop_planner:
       # params for stop position
       stop_position:
-        max_longitudinal_margin: 5.0         # stop margin distance from obstacle on the path [m]
-        min_longitudinal_margin: 5.0         # stop margin distance when any other stop point is inserted in stop margin [m]
-        hold_stop_margin_distance: 0.0       # the ego keeps stopping if the ego is in this margin [m]
+        max_longitudinal_margin: 5.0             # stop margin distance from obstacle on the path [m]
+        max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind goal on the path [m]
+        min_longitudinal_margin: 5.0             # stop margin distance when any other stop point is inserted in stop margin [m]
+        hold_stop_margin_distance: 0.0           # the ego keeps stopping if the ego is in this margin [m]
 
       # params for detection area
       detection_area: