From fbd6352bfa80d46e7d11eefeacb9789ac50e2ccd Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Tue, 26 Sep 2023 16:20:37 +0900 Subject: [PATCH] feat(goal_planner): prioritize goals before objects to avoid 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 e1108d56c9..f784558392 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 @@ -12,6 +12,7 @@ goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" minimum_weighted_distance: lateral_weight: 40.0 + prioritize_goals_before_objects: true path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 20.0