From 06c33d3dced4a04deed83f202eb222028e213ff5 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 29 Sep 2023 03:02:40 +0900 Subject: [PATCH] update param Signed-off-by: kyoichi-sugahara --- .../goal_planner/goal_planner.param.yaml | 10 +++++----- .../start_planner/start_planner.param.yaml | 8 ++++---- 2 files changed, 9 insertions(+), 9 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 f52c36179b..0f1b441bed 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 @@ -118,7 +118,7 @@ path_safety_check: # EgoPredictedPath ego_predicted_path: - min_velocity: 0.0 + min_velocity: 1.0 acceleration: 1.0 max_velocity: 1.0 time_horizon_for_front_object: 10.0 @@ -164,11 +164,11 @@ check_all_predicted_path: true publish_debug_marker: false rss_params: - rear_vehicle_reaction_time: 1.0 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 1.0 - longitudinal_velocity_delta_time: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 # temporary 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 5487b0fde9..1424b58d22 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 @@ -127,11 +127,11 @@ check_all_predicted_path: true publish_debug_marker: false rss_params: - rear_vehicle_reaction_time: 1.0 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 1.0 - lateral_distance_max_threshold: 1.0 - longitudinal_distance_min_threshold: 1.0 - longitudinal_velocity_delta_time: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # hysteresis factor to expand/shrink polygon hysteresis_factor_expand_rate: 1.0 # temporary