From 752acf691de0d676b221c4657016e5573643c664 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Wed, 24 Jul 2024 08:59:46 +0900 Subject: [PATCH] feat(dynamic_drivable_area_expansion): min_bound_interval parameter Signed-off-by: Maxime CLEMENT --- .../behavior_path_planner/drivable_area_expansion.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index f3393ff5a4..5cde9765d0 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -10,6 +10,7 @@ enabled: true print_runtime: false max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + min_bound_interval: 0.1 # [m] minimum interval between two consecutive bound points (before expansion) smoothing: curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length