From d712ca893d2554b2fc46a863ef44fb8b8ae73ce3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 1 Apr 2024 22:39:46 +0900 Subject: [PATCH] feat(start_planner): add path validation check (#942) add param Signed-off-by: Daniel Sanchez --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 41e4f90bbc..f2ba29e926 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -27,6 +27,7 @@ shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 + maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation" lateral_jerk: 0.5 lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15