From 5164848423ab8b6a6d97744c7396f5de4c715542 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Mon, 25 Sep 2023 19:42:30 +0900 Subject: [PATCH] feat(goal_planner): sort goal candidates priority by weighted distance Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index 70dd904863..e1108d56c9 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -9,7 +9,10 @@ # goal search goal_search: - search_priority: "efficient_path" # "efficient_path" or "close_goal" + goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" + minimum_weighted_distance: + lateral_weight: 40.0 + path_priority: "efficient_path" # "efficient_path" or "close_goal" parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 20.0 backward_goal_search_length: 20.0