diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
index e341d1c8..283e0a7f 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -23,4 +23,4 @@
predicted_object_layer:
type: "predicted_object"
predicted_objects_topic: "/perception/object_recognition/objects"
- distance_threshold: 1.3
+ distance_threshold: 1.2
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
index def6c69d..35ba01cc 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
@@ -18,7 +18,7 @@
Qv : 4.0
Qo : 1000.0
Qin : 0.01
- Qdin : 0.5
+ Qdin : 0.0
# model param
delta_t : 0.1
vehicle_L : 1.08
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
index c964c2b8..a1f3cb0c 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml
@@ -101,7 +101,7 @@
-
+