From 511d7329f72608a1c91f72d707cb6cc24595d597 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 7 Nov 2024 18:30:56 +0900 Subject: [PATCH] feat(goal_planner): set lane departure check margin 0.20 (#1214) 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 4441e49cd1..a20fae6e6a 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 @@ -59,7 +59,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) - lane_departure_check_expansion_margin: 0.3 + lane_departure_check_expansion_margin: 0.2 # shift parking shift_parking: