From 5808bb640a1580b9b2f0036fb4c93173071500d0 Mon Sep 17 00:00:00 2001
From: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date: Wed, 7 Feb 2024 21:29:20 +0900
Subject: [PATCH] update safety check time horizon

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../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 eb0f98b220..6d82e7790d 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
@@ -128,7 +128,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0