chore(start_goal_planner): tuning parameter (autowarefoundation#856)

Signed-off-by: Shumpei Wakabayashi <[email protected]>
tier4 · May 23, 2024 · 31b25d9 · 31b25d9
1 parent 5285fb4
commit 31b25d9
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -14,7 +14,7 @@
           lateral_weight: 40.0
         prioritize_goals_before_objects: true
         parking_policy: "left_side" # "left_side" or "right_side"
-        forward_goal_search_length: 40.0
+        forward_goal_search_length: 100.0
         backward_goal_search_length: 20.0
         goal_search_interval: 2.0
         longitudinal_margin: 3.0

diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -44,8 +44,8 @@
       pull_out_max_steer_angle: 0.26  # 15deg
       # search start pose backward
       enable_back: true
-      search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
-      max_back_distance: 20.0
+      search_priority: "short_back_distance"  # "efficient_path" or "short_back_distance"
+      max_back_distance: 8.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0