From f03b034847d1fe93593263af94be4c34405442a5 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 15 Sep 2023 13:34:55 +0900 Subject: [PATCH] add hysteresis_factor_expand_rate in SafetyCheckParams Signed-off-by: kyoichi-sugahara --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ 2 files changed, 4 insertions(+) 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 a8882b903a..a1b0cdef02 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 @@ -165,6 +165,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon with the value + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0 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 c0dbbe0294..6ad3bcfd36 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 @@ -132,6 +132,8 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 1.0 longitudinal_velocity_delta_time: 1.0 + # hysteresis factor to expand/shrink polygon + hysteresis_factor_expand_rate: 1.0 # temporary backward_path_length: 30.0 forward_path_length: 100.0