From b88af2dd6fc4ef5eccdb674469c0c2068b918ef6 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 18 Jan 2024 20:22:57 +0900 Subject: [PATCH] feat(start_planner): enable shift path lane departure check (#803) enable shift path lane departure check in start planner Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 592302ce5d..ddfc8fab52 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -13,7 +13,7 @@ center_line_path_interval: 1.0 # shift pull out enable_shift_pull_out: true - check_shift_path_lane_departure: false + check_shift_path_lane_departure: true minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5