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chore: sync awf-latest #786

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Mar 12, 2025
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chore: sync awf-latest #786

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16 changes: 9 additions & 7 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,13 +19,15 @@
extra_wheelbase: 0.0 # [m] extra length to add to the wheelbase
extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
extra_width: 1.0 # [m] extra length to add to the width
dynamic_objects:
avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
extra_footprint_offset:
front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
object_exclusion:
exclude_static: false # if true, the drivable area is not expanded over static objects
exclude_dynamic: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
th_stopped_object_velocity: 1.0 # [m/s] velocity threshold for static objects
safety_margin:
front: 0.75 # [m] margin to add to the front of object footprint
rear: 0.75 # [m] margin to add to the rear of object footprint
left: 0.75 # [m] margin to add to the left of object footprint
right: 0.75 # [m] margin to add to the right of object footprint
path_preprocessing:
max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
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