From dd730b9cd939915e90899dae150a681a88f775ba Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 5 Nov 2024 10:18:00 +0900 Subject: [PATCH] feat(goal_planner): set lane departure check margin 0.3 (#1199) Signed-off-by: kosuke55 --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index f7db82e17a..4441e49cd1 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -59,7 +59,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) - lane_departure_check_expansion_margin: 0.0 + lane_departure_check_expansion_margin: 0.3 # shift parking shift_parking: