feat(lane_departure_checker): add params for lane departure margin (#…

…1011) * add params Signed-off-by: Daniel Sanchez <[email protected]> * add param for start planner lane departure expansion margin Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · May 31, 2024 · b191111 · b191111
1 parent 322c686
commit b191111
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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
@@ -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/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_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