From e54844e3d5f0cf82da0888582e1200449eb7be63 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 4 Jul 2024 16:50:36 +0900 Subject: [PATCH] feat(goal_planner): prioritize pull over path by curvature (#1048) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_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/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 adbda50864..67708f3386 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 @@ -22,6 +22,7 @@ lateral_offset_interval: 0.5 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 + high_curvature_threshold: 0.1 # occupancy grid map occupancy_grid: