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fix(obstacle_avoidance_planner): adding missing functionality for stop margin due to out of drivable area #438

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Jul 19, 2023
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fix(obstacle_avoidance_planner): adding missing functionality for stop margin due to out of drivable area #438

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3 changes: 3 additions & 0 deletions ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
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Expand Up @@ -19,6 +19,9 @@
output_delta_arc_length: 0.5 # delta arc length for output trajectory [m]
output_backward_traj_length: 5.0 # backward length for backward trajectory from base_link [m]

vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] .
# This margin will be realized with delta_arc_length_for_mpt_points m precision.

# replanning & trimming trajectory param outside algorithm
replan:
max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m]
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