From 7bedaf6c6ed64c99520b69e7cb6e2b3ec339acb0 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Thu, 18 Jan 2024 17:49:22 +0900 Subject: [PATCH] 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