feat(behavior_path_planner): update rss param (#604)

update param Signed-off-by: kyoichi-sugahara <[email protected]>
tier4 · Oct 2, 2023 · c1e98dd · c1e98dd
1 parent da1cfda
commit c1e98dd
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -118,7 +118,7 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
-          min_velocity: 0.0
+          min_velocity: 1.0
           acceleration: 1.0
           max_velocity: 1.0
           time_horizon_for_front_object: 10.0
@@ -164,11 +164,11 @@
           check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
-            rear_vehicle_reaction_time: 1.0
+            rear_vehicle_reaction_time: 2.0
             rear_vehicle_safety_time_margin: 1.0
-            lateral_distance_max_threshold: 1.0
-            longitudinal_distance_min_threshold: 1.0
-            longitudinal_velocity_delta_time: 1.0
+            lateral_distance_max_threshold: 2.0
+            longitudinal_distance_min_threshold: 3.0
+            longitudinal_velocity_delta_time: 0.8
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           # temporary

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
@@ -127,11 +127,11 @@
           check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
-            rear_vehicle_reaction_time: 1.0
+            rear_vehicle_reaction_time: 2.0
             rear_vehicle_safety_time_margin: 1.0
-            lateral_distance_max_threshold: 1.0
-            longitudinal_distance_min_threshold: 1.0
-            longitudinal_velocity_delta_time: 1.0
+            lateral_distance_max_threshold: 2.0
+            longitudinal_distance_min_threshold: 3.0
+            longitudinal_velocity_delta_time: 0.8
           # hysteresis factor to expand/shrink polygon
           hysteresis_factor_expand_rate: 1.0
           # temporary