From 642eb3e5a9dbb128e114135d681c2098abdecd9f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 29 Oct 2024 17:19:35 +0900 Subject: [PATCH] feat(start/goal_planner): increse max dry steering angle (#1200) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 6 +++--- .../start_planner/start_planner.param.yaml | 2 +- 2 files changed, 4 insertions(+), 4 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 5eb71126bb..f7db82e17a 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 @@ -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/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 a5bc59e519..9ad5510ab2 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 @@ -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"