Merge pull request autowarefoundation#198 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch
tkimura4 · Jul 5, 2023 · f50a09c · f50a09c
2 parents ef65fe0 + a6da684
commit f50a09c
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -127,6 +127,7 @@
         safety_check_idling_time: 1.5                    # [s]
         safety_check_accel_for_rss: 2.5                  # [m/ss]
         safety_check_hysteresis_factor: 2.0              # [-]
+        safety_check_ego_offset: 1.0                     # [m]
 
       # For avoidance maneuver
       avoidance:
@@ -143,7 +144,9 @@
           min_prepare_distance: 1.0                     # [m]
           min_avoidance_distance: 10.0                  # [m]
           min_nominal_avoidance_speed: 7.0              # [m/s]
-          min_sharp_avoidance_speed: 1.0                # [m/s]
+          min_sharp_avoidance_speed: 2.78               # [m/s]
+          min_slow_down_speed: 1.38                     # [m/s]
+          buf_slow_down_speed: 0.56                     # [m/s]
 
       # For yield maneuver
       yield:
@@ -153,6 +156,7 @@
       stop:
         min_distance: 10.0                              # [m]
         max_distance: 20.0                              # [m]
+        stop_buffer: 1.0                                # [m]
 
       constraints:
         # vehicle slows down under longitudinal constraints