From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Thu, 10 Oct 2024 15:51:38 +0900
Subject: [PATCH] revert(obstacle_cruise): reduce using predicted paths to
 maintain conventional behavior (#621)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index d37554eba7..d31c30ce61 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -126,7 +126,7 @@
           ego_obstacle_overlap_time_threshold : 0.2 #  time threshold to decide cut-in obstacle for cruise or stop [s]
           max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego
           max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s]
-          num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego
+          num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego
         yield:
           enable_yield: true
           lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding