Merge pull request autowarefoundation#771 from tier4/hotfix/v0.44.0/g…

…oal_planner_safety_check feat(goal_planner): cherry pick
maxime-clem · Feb 8, 2024 · 87d2457 · 87d2457
2 parents ca40213 + 0fb5692
commit 87d2457
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Showing 2 changed files with 1 addition and 3 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
@@ -128,7 +128,7 @@
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 5.0
+          safety_check_time_horizon: 10.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -164,7 +164,6 @@
           method: "integral_predicted_polygon"
           keep_unsafe_time: 3.0
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0

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
@@ -125,7 +125,6 @@
           # safety check configuration
           enable_safety_check: true
           # collision check parameters
-          check_all_predicted_path: true
           publish_debug_marker: false
           rss_params:
             rear_vehicle_reaction_time: 2.0