From 2a965529eaba861c651c1121bf91b86d978861ed Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Fri, 19 Jan 2024 17:58:55 +0900 Subject: [PATCH] Tune params Signed-off-by: Daniel Sanchez --- .../sampling_planner/sampling_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml index 6944567e4b..9a6b30c219 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/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