From 413ea5f6d35f9ebb4ae49468255656dcb4cf4d63 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 28 Feb 2023 07:31:39 +0900 Subject: [PATCH] feat(obstacle_stop_planner): add margin behind goal (#228) Signed-off-by: kosuke55 --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 141297a2a7f4f..a68a7601662d9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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: