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feat(goal_planner): loosen safety check to prevent unnecessary stop (… #691

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merged 1 commit into from
Nov 27, 2024
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feat(goal_planner): loosen safety check to prevent unnecessary stop (… #691

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10 changes: 5 additions & 5 deletions ...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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:
Expand All @@ -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
Expand Down
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