Merge pull request #745 from tier4/sync-awf-latest

chore: sync awf-latest
autowarefoundation · Jan 28, 2025 · 755acfc · 755acfc
2 parents 4e0020e + d66fb9e
commit 755acfc
Showing 1 changed file with 7 additions and 2 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
@@ -25,8 +25,8 @@
         high_curvature_threshold: 0.1
         bus_stop_area:
           use_bus_stop_area: false
-          goal_search_interval: 0.5
-          lateral_offset_interval: 0.25
+          goal_search_interval: 0.75
+          lateral_offset_interval: 0.3
 
       # occupancy grid map
       occupancy_grid:
@@ -52,6 +52,7 @@
       # pull over
       pull_over:
         minimum_request_length: 0.0
+        pull_over_prepare_length: 100.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0
@@ -130,6 +131,10 @@
             neighbor_radius: 8.0
             margin: 1.0
 
+        bezier_parking:
+          pull_over_angle_threshold: 0.5
+          after_shift_straight_distance: 1.5
+
       stop_condition:
         maximum_deceleration_for_stop: 1.0
         maximum_jerk_for_stop: 1.0