fix(dynamic_obtacle_avoidance): lower lateral offset for pedestrian t…

…o handle dense urban scenarios Signed-off-by: beyza <[email protected]>
beyzanurkaya · Sep 29, 2024 · ed273a0 · ed273a0
1 parent 6327aab
commit ed273a0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...are_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/...are_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
@@ -57,9 +57,9 @@
           min_longitudinal_polygon_margin: 3.0 # [m]
 
         lat_offset_from_obstacle: 0.3 # [m]
-        margin_distance_around_pedestrian: 2.0 # [m]
+        margin_distance_around_pedestrian: 0.4 # [m]
         predicted_path:
-          end_time_to_consider: 2.0 # [s]
+          end_time_to_consider: 1.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]