feat(obstacle_cruise): change stop lateral margin (#948)

Signed-off-by: Yuki Takagi <[email protected]>
autowarefoundation · Apr 18, 2024 · ce5345b · ce5345b
1 parent 55009f3
commit ce5345b
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
@@ -87,7 +87,7 @@
         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: 0.2 # lateral margin between obstacle and trajectory band with ego's width
+        max_lat_margin: 0.3 # 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]