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feat(behavior_path_planner): update rss param #604

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Oct 2, 2023
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feat(behavior_path_planner): update rss param #604

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10 changes: 5 additions & 5 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@
maximum_deceleration: 1.0
maximum_jerk: 1.0
path_priority: "efficient_path" # "efficient_path" or "close_goal"
efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking)

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# shift parking
shift_parking:
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
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8 changes: 4 additions & 4 deletions ...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
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Expand Up @@ -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
Expand Down
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