fix(obstacle_cruise_planner): increase lateral margin for obstacle st…

…op (#682) Signed-off-by: satoshi-ota <[email protected]>
tier4 · Oct 27, 2023 · aa148bb · aa148bb
1 parent 9f71e25
commit aa148bb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -81,7 +81,7 @@
         obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop
 
       stop:
-        max_lat_margin: 0.0 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width
         crossing_obstacle:
           collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]