Merge pull request autowarefoundation#773 from tier4/hotfix/v0.44.0/s…

…tart_planner_safety_check feat(start_planner): cherry pick
maxime-clem · Feb 9, 2024 · 1804f78 · 1804f78
2 parents e824fce + 1e9e4d3
commit 1804f78
Showing 1 changed file with 2 additions and 1 deletion.
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
@@ -6,14 +6,14 @@
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
       collision_check_margins: [2.0, 1.0, 0.5, 0.1]
-      collision_check_distance_from_end: 1.0
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
@@ -23,6 +23,7 @@
       maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
+      geometric_collision_check_distance_from_end: 0.0
       divide_pull_out_path: true
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0