From 557b4ccac99b913cda971844fb1736e0465657b5 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 28 Sep 2023 09:14:37 +0900 Subject: [PATCH] feat(goal_planner): prioritize goals before objects to avoid (#594) * feat(goal_planner): extend goal search are Signed-off-by: kosuke55 * feat(goal_planner): prioritize goals before objects to avoid Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 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 a59786ccdd..f52c36179b 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 @@ -12,7 +12,7 @@ goal_priority: "minimum_weighted_distance" # "minimum_weighted_distance" or "minimum_longitudinal_distance" minimum_weighted_distance: lateral_weight: 40.0 - path_priority: "efficient_path" # "efficient_path" or "close_goal" + prioritize_goals_before_objects: true parking_policy: "left_side" # "left_side" or "right_side" forward_goal_search_length: 40.0 backward_goal_search_length: 20.0 @@ -47,6 +47,8 @@ decide_path_distance: 10.0 maximum_deceleration: 1.0 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(exculde freespace parking) # shift parking shift_parking: