From d38a63e6eb7d3fa5c5d827971481578eacbf36dd Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 21 Aug 2024 12:43:42 +0900 Subject: [PATCH] perf(goal_planner): faster path sorting and selection (#1119) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 93677d3ca9..b1b03c21c1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -36,7 +36,7 @@ # object recognition object_recognition: use_object_recognition: true - collision_check_soft_margins: [2.0, 1.5, 1.0] + collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented. collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0