update default params

Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Dec 27, 2023 · 0024057 · 0024057
1 parent 0d56be6
commit 0024057
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...ving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml b/...ving/behavior_planning/behavior_path_planner/sampling_planner/sampling_planner.param.yaml
@@ -25,8 +25,8 @@
       enable_bezier: False
       resolution: 0.5  # [m] target distance between sampled path points
       previous_path_reuse_points_nb: 2  # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc)
-      target_lengths: [15.0, 20.0, 40.0]  # [m] target lengths of the sampled paths
-      nb_target_lateral_positions: 10 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation)
+      target_lengths: [20.0, 40.0]  # [m] target lengths of the sampled paths
+      nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation)
       target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5]  # manual values that are only used if nb_target_lateral_positions = 0
       frenet:  # target values for the sampled "lateral deviation over longitudinal position" polynomial
         target_lateral_velocities: [-0.5, 0.0, 0.5]