From f9edba40b5f101d4304ee97920d5b4b1a43ad379 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Sep 2023 20:31:28 +0900 Subject: [PATCH] feat(goal_planner): extend goal search area (#592) feat(goal_planner): extend goal search are Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 e1108d56c9..10bb6453b4 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 @@ -14,12 +14,12 @@ lateral_weight: 40.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" - forward_goal_search_length: 20.0 + forward_goal_search_length: 40.0 backward_goal_search_length: 20.0 goal_search_interval: 2.0 longitudinal_margin: 3.0 - max_lateral_offset: 0.5 - lateral_offset_interval: 0.25 + max_lateral_offset: 1.0 + lateral_offset_interval: 0.5 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75