Merge pull request autowarefoundation#642 from tier4/beta/v0.19.1-exp…

…and-sp-lat-dist-threshold feat(start_planner): tune parameter to improve dynamic collision check
maxime-clem · Apr 25, 2024 · 5024f81 · 5024f81
2 parents 4e153b8 + 9f7d001
commit 5024f81
Showing 1 changed file with 1 addition and 1 deletion.
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
@@ -130,7 +130,7 @@
           rss_params:
             rear_vehicle_reaction_time: 2.0
             rear_vehicle_safety_time_margin: 1.0
-            lateral_distance_max_threshold: 2.0
+            lateral_distance_max_threshold: 3.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
           # hysteresis factor to expand/shrink polygon