|
27 | 27 | car:
|
28 | 28 | execute_num: 1 # [-]
|
29 | 29 | moving_speed_threshold: 1.0 # [m/s]
|
30 |
| - moving_time_threshold: 1.0 # [s] |
| 30 | + moving_time_threshold: 2.0 # [s] |
| 31 | + lateral_margin: |
| 32 | + soft_margin: 0.7 # [m] |
| 33 | + hard_margin: 0.3 # [m] |
| 34 | + hard_margin_for_parked_vehicle: 0.3 # [m] |
31 | 35 | max_expand_ratio: 0.0 # [-]
|
32 |
| - envelope_buffer_margin: 0.3 # [m] |
33 |
| - avoid_margin_lateral: 1.0 # [m] |
34 |
| - safety_buffer_lateral: 0.7 # [m] |
| 36 | + envelope_buffer_margin: 0.5 # [m] |
35 | 37 | safety_buffer_longitudinal: 0.0 # [m]
|
36 | 38 | use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
|
37 | 39 | truck:
|
38 | 40 | execute_num: 1
|
39 | 41 | moving_speed_threshold: 1.0 # 3.6km/h
|
40 |
| - moving_time_threshold: 1.0 |
| 42 | + moving_time_threshold: 2.0 |
| 43 | + lateral_margin: |
| 44 | + soft_margin: 0.9 # [m] |
| 45 | + hard_margin: 0.1 # [m] |
| 46 | + hard_margin_for_parked_vehicle: 0.1 # [m] |
41 | 47 | max_expand_ratio: 0.0
|
42 |
| - envelope_buffer_margin: 0.3 |
43 |
| - avoid_margin_lateral: 1.0 |
44 |
| - safety_buffer_lateral: 0.7 |
| 48 | + envelope_buffer_margin: 0.5 |
45 | 49 | safety_buffer_longitudinal: 0.0
|
46 | 50 | use_conservative_buffer_longitudinal: true
|
47 | 51 | bus:
|
48 | 52 | execute_num: 1
|
49 | 53 | moving_speed_threshold: 1.0 # 3.6km/h
|
50 |
| - moving_time_threshold: 1.0 |
| 54 | + moving_time_threshold: 2.0 |
| 55 | + lateral_margin: |
| 56 | + soft_margin: 0.9 # [m] |
| 57 | + hard_margin: 0.1 # [m] |
| 58 | + hard_margin_for_parked_vehicle: 0.1 # [m] |
51 | 59 | max_expand_ratio: 0.0
|
52 |
| - envelope_buffer_margin: 0.3 |
53 |
| - avoid_margin_lateral: 1.0 |
54 |
| - safety_buffer_lateral: 0.7 |
| 60 | + envelope_buffer_margin: 0.5 |
55 | 61 | safety_buffer_longitudinal: 0.0
|
56 | 62 | use_conservative_buffer_longitudinal: true
|
57 | 63 | trailer:
|
58 | 64 | execute_num: 1
|
59 | 65 | moving_speed_threshold: 1.0 # 3.6km/h
|
60 |
| - moving_time_threshold: 1.0 |
| 66 | + moving_time_threshold: 2.0 |
| 67 | + lateral_margin: |
| 68 | + soft_margin: 0.9 # [m] |
| 69 | + hard_margin: 0.1 # [m] |
| 70 | + hard_margin_for_parked_vehicle: 0.1 # [m] |
61 | 71 | max_expand_ratio: 0.0
|
62 |
| - envelope_buffer_margin: 0.3 |
63 |
| - avoid_margin_lateral: 1.0 |
64 |
| - safety_buffer_lateral: 0.7 |
| 72 | + envelope_buffer_margin: 0.5 |
65 | 73 | safety_buffer_longitudinal: 0.0
|
66 | 74 | use_conservative_buffer_longitudinal: true
|
67 | 75 | unknown:
|
68 | 76 | execute_num: 1
|
69 | 77 | moving_speed_threshold: 0.28 # 1.0km/h
|
70 | 78 | moving_time_threshold: 1.0
|
| 79 | + lateral_margin: |
| 80 | + soft_margin: 0.7 # [m] |
| 81 | + hard_margin: -0.2 # [m] |
| 82 | + hard_margin_for_parked_vehicle: -0.2 # [m] |
71 | 83 | max_expand_ratio: 0.0
|
72 |
| - envelope_buffer_margin: 0.3 |
73 |
| - avoid_margin_lateral: 1.0 |
74 |
| - safety_buffer_lateral: 0.7 |
| 84 | + envelope_buffer_margin: 0.1 |
75 | 85 | safety_buffer_longitudinal: 0.0
|
76 | 86 | use_conservative_buffer_longitudinal: true
|
77 | 87 | bicycle:
|
78 | 88 | execute_num: 1
|
79 | 89 | moving_speed_threshold: 0.28 # 1.0km/h
|
80 | 90 | moving_time_threshold: 1.0
|
| 91 | + lateral_margin: |
| 92 | + soft_margin: 0.7 # [m] |
| 93 | + hard_margin: 0.5 # [m] |
| 94 | + hard_margin_for_parked_vehicle: 0.5 # [m] |
81 | 95 | max_expand_ratio: 0.0
|
82 |
| - envelope_buffer_margin: 0.8 |
83 |
| - avoid_margin_lateral: 1.0 |
84 |
| - safety_buffer_lateral: 1.0 |
| 96 | + envelope_buffer_margin: 0.5 |
85 | 97 | safety_buffer_longitudinal: 1.0
|
86 | 98 | use_conservative_buffer_longitudinal: true
|
87 | 99 | motorcycle:
|
88 | 100 | execute_num: 1
|
89 | 101 | moving_speed_threshold: 1.0 # 3.6km/h
|
90 | 102 | moving_time_threshold: 1.0
|
| 103 | + lateral_margin: |
| 104 | + soft_margin: 0.7 # [m] |
| 105 | + hard_margin: 0.3 # [m] |
| 106 | + hard_margin_for_parked_vehicle: 0.3 # [m] |
91 | 107 | max_expand_ratio: 0.0
|
92 |
| - envelope_buffer_margin: 0.8 |
93 |
| - avoid_margin_lateral: 1.0 |
94 |
| - safety_buffer_lateral: 1.0 |
| 108 | + envelope_buffer_margin: 0.5 |
95 | 109 | safety_buffer_longitudinal: 1.0
|
96 | 110 | use_conservative_buffer_longitudinal: true
|
97 | 111 | pedestrian:
|
98 | 112 | execute_num: 1
|
99 | 113 | moving_speed_threshold: 0.28 # 1.0km/h
|
100 | 114 | moving_time_threshold: 1.0
|
| 115 | + lateral_margin: |
| 116 | + soft_margin: 0.7 # [m] |
| 117 | + hard_margin: 0.5 # [m] |
| 118 | + hard_margin_for_parked_vehicle: 0.5 # [m] |
101 | 119 | max_expand_ratio: 0.0
|
102 |
| - envelope_buffer_margin: 0.8 |
103 |
| - avoid_margin_lateral: 1.0 |
104 |
| - safety_buffer_lateral: 1.0 |
| 120 | + envelope_buffer_margin: 0.5 |
105 | 121 | safety_buffer_longitudinal: 1.0
|
106 | 122 | use_conservative_buffer_longitudinal: true
|
107 | 123 | lower_distance_for_polygon_expansion: 30.0 # [m]
|
|
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