From 97b10c751fa5649f35316b16f46da37651e3c555 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 15 Nov 2024 13:32:51 +0900 Subject: [PATCH] feat(goal_planner): loosen safety check to prevent unnecessary stop (#1231) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) 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 5eb71126bb..4815e083e0 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 @@ -139,13 +139,13 @@ min_velocity: 1.0 min_acceleration: 1.0 max_velocity: 1.0 - time_horizon_for_front_object: 10.0 - time_horizon_for_rear_object: 10.0 + time_horizon_for_front_object: 5.0 + time_horizon_for_rear_object: 5.0 time_resolution: 0.5 delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 10.0 + safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 100.0 @@ -179,7 +179,7 @@ # safety check configuration enable_safety_check: true method: "integral_predicted_polygon" - keep_unsafe_time: 3.0 + keep_unsafe_time: 0.5 # collision check parameters publish_debug_marker: false rss_params: @@ -192,7 +192,7 @@ forward_margin: 1.0 backward_margin: 1.0 lat_margin: 1.0 - time_horizon: 10.0 + time_horizon: 5.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 collision_check_yaw_diff_threshold: 3.1416