From 0a0c342943c6c34a05a9325eecafbfaf25148199 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Sat, 15 Jul 2023 11:56:32 +0900 Subject: [PATCH] Set lateral_deviation_weight 0.1 -> 1.0 Signed-off-by: Maxime CLEMENT --- .../motion_planning/path_sampler/path_sampler.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml index b50602b8e6..d22ce0e6b4 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml @@ -16,7 +16,7 @@ max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path soft: - lateral_deviation_weight: 0.1 # cost weight for lateral deviation between the end of a sampled path and the reference path + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path length_weight: 1.0 # cost weight for the length of a sampled path curvature_weight: 1.0 # cost weight for the curvature of a sampled path sampling: