perf(elastic_band_smoother): increase lateral replan threshold (#652)

autowarefoundation · Oct 24, 2023 · c88d055 · c88d055
1 parent 2ed86f2
commit c88d055
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -40,7 +40,7 @@
       enable: true  # if true, only perform smoothing when the input changes significantly
       max_path_shape_around_ego_lat_dist: 2.0  # threshold of path shape change around ego [m]
       max_path_shape_forward_lon_dist: 100.0   # forward point to check lateral distance difference [m]
-      max_path_shape_forward_lat_dist: 0.1     # threshold of path shape change around forward point [m]
+      max_path_shape_forward_lat_dist: 0.2     # threshold of path shape change around forward point [m]
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]