From c88d0555374352547966ce6f5e0a595158b11d39 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 24 Oct 2023 11:55:17 +0900 Subject: [PATCH] perf(elastic_band_smoother): increase lateral replan threshold (#652) --- .../path_smoother/elastic_band_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml index 8e77420dd4..c67d29c418 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml @@ -40,7 +40,7 @@ enable: true # if true, only perform smoothing when the input changes significantly max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m] max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m] - max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m] + max_path_shape_forward_lat_dist: 0.2 # threshold of path shape change around forward point [m] 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]