Tune params

Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Feb 1, 2024 · 2a96552 · 2a96552
1 parent a1839f8
commit 2a96552
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...ving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/...ving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml
@@ -19,7 +19,7 @@
         lateral_deviation_weight: 1.0  # cost weight for lateral deviation between the end of a sampled path and the reference path
         length_weight: 1.0  # cost weight for the length of a sampled path
         curvature_weight: 2000.0  # cost weight for the curvature of a sampled path
-        weights: [0.5,1.0,1.0]
+        weights: [0.5,1.0,20.0]
     sampling:
       enable_frenet: True
       enable_bezier: False
@@ -30,7 +30,7 @@
       target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5]  # manual values that are only used if nb_target_lateral_positions = 0
       frenet:  # target values for the sampled "lateral deviation over longitudinal position" polynomial
         target_lateral_velocities: [-0.5, 0.0, 0.5]
-        target_lateral_accelerations: [-0.1, 0.0, 0.1]
+        target_lateral_accelerations: [0.0]
       # bezier:
       #   nb_k: 3  # number of sampled curvature values
       #   mk_min: 0.0  # minimum curvature value