Merge pull request autowarefoundation#369 from tier4/feat/terminal-ob…

…stacle-margin-6 feat(autoware_launch): set terminal obstacle stop margin to 6.0
maxime-clem · Aug 23, 2023 · 06a680a · 06a680a
2 parents 7f912df + 96d9846
commit 06a680a
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
@@ -13,7 +13,7 @@
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
       safe_distance_margin : 6.0 # This is also used as a stop margin [m]
-      terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
+      terminal_safe_distance_margin : 6.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index