feat: use obstacle_cruise_planner by default

Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Nov 15, 2023 · 8424227 · 8424227
1 parent c97cf8b
commit 8424227
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -97,9 +97,9 @@ launch:
 
   - arg:
       name: motion_stop_planner_type
-      default: obstacle_stop_planner
-      # option: obstacle_stop_planner
-      #         obstacle_cruise_planner
+      default: obstacle_cruise_planner
+      # option: obstacle_cruise_planner
+      #         obstacle_stop_planner
       #         none
 
   - arg:

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
-      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
+      safe_distance_margin : 5.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]