feat(start/goal_planner): increse max dry steering angle (autowarefou…

…ndation#1200) Signed-off-by: kosuke55 <[email protected]>
kyoichi-sugahara · Oct 29, 2024 · 642eb3e · 642eb3e
1 parent 6f7cf67
commit 642eb3e
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -73,21 +73,21 @@
         # parallel parking path
         parallel_parking:
           path_interval: 1.0
-          max_steer_angle: 0.35  # 20deg
+          max_steer_angle: 0.4 #22.9deg
           forward:
             enable_arc_forward_parking: true
             after_forward_parking_straight_distance: 2.0
             forward_parking_velocity: 1.38
             forward_parking_lane_departure_margin: 0.0
             forward_parking_path_interval: 1.0
-            forward_parking_max_steer_angle: 0.35  # 20deg
+            forward_parking_max_steer_angle: 0.4  # 22.9deg
           backward:
             enable_arc_backward_parking: true
             after_backward_parking_straight_distance: 2.0
             backward_parking_velocity: -1.38
             backward_parking_lane_departure_margin: 0.0
             backward_parking_path_interval: 1.0
-            backward_parking_max_steer_angle: 0.35  # 20deg
+            backward_parking_max_steer_angle: 0.4  # 22.9deg
 
         # freespace parking
         freespace_parking:

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -43,7 +43,7 @@
       lane_departure_margin: 0.2
       lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
-      pull_out_max_steer_angle: 0.26  # 15deg
+      pull_out_max_steer_angle: 0.4  # 22.9deg
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"