feat(start/goal_planner): remove unused param and update time horizon…

… for goal planner's safety check (#863) * remove unused param Signed-off-by: kyoichi-sugahara <[email protected]> * update safety check time horizon Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Feb 7, 2024 · 7623f6f · 7623f6f
1 parent 93fc83e
commit 7623f6f
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Showing 2 changed files with 1 addition and 3 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...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
@@ -164,7 +164,6 @@
           method: "integral_predicted_polygon"
           keep_unsafe_time: 3.0
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -127,7 +127,6 @@
           # safety check configuration
           enable_safety_check: true
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0