feat(behavior_path_planner): update start_goal_planner's parameter (#571

) update start_goal_planner's parameter Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Sep 18, 2023 · 9256a13 · 9256a13
1 parent 79af6a9
commit 9256a13
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 6 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
@@ -112,12 +112,13 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
+          min_velocity: 0.0
           acceleration: 1.0
-          time_horizon: 10.0
+          max_velocity: 1.0
+          time_horizon_for_front_object: 10.0
+          time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
-          min_slow_speed: 0.0
           delay_until_departure: 1.0
-          target_velocity: 1.0
         # For target object filtering
         target_filtering:
           safety_check_time_horizon: 5.0

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
@@ -79,12 +79,13 @@
       path_safety_check:
         # EgoPredictedPath
         ego_predicted_path:
+          min_velocity: 0.0
           acceleration: 1.0
-          time_horizon: 10.0
+          max_velocity: 1.0
+          time_horizon_for_front_object: 10.0
+          time_horizon_for_rear_object: 10.0
           time_resolution: 0.5
-          min_slow_speed: 0.0
           delay_until_departure: 1.0
-          target_velocity: 1.0
         # For target object filtering
         target_filtering:
           safety_check_time_horizon: 5.0