Merge pull request autowarefoundation#738 from tier4/feat/tune-optimi…

…zation feat: tune parameters for optimization path planning (autowarefoundation#774)
maxime-clem · Jan 18, 2024 · b63d911 · b63d911
2 parents 424c203 + 873e64e
commit b63d911
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -31,7 +31,7 @@
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
-      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
+      max_delta_time_sec: 0.0                  # threshold of delta time for replan [second]
 
     # mpt param
     mpt:
@@ -40,7 +40,7 @@
         steer_limit_constraint: false
         visualize_sampling_num: 1
         enable_manual_warm_start: false
-        enable_warm_start: true
+        enable_warm_start: false
         enable_optimization_validation: false
 
       common:
@@ -62,7 +62,7 @@
       # weight parameter for optimization
       weight:
         # collision free
-        soft_collision_free_weight: 1000.0        # soft weight for lateral error around the middle point
+        soft_collision_free_weight: 1.0        # soft weight for lateral error around the middle point
 
         # tracking error
         lat_error_weight: 1.0       # weight for lateral error

diff --git a/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -44,4 +44,4 @@
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
-      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
+      max_delta_time_sec: 0.0                  # threshold of delta time for replan [second]