feat(start_planner): add curvature limit for path generation (#446)

* add param for curvature shift start Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * change param Signed-off-by: Takamasa Horibe <[email protected]> * maximum_curvature: 0.07 Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: kosuke55 <[email protected]> Co-authored-by: kosuke55 <[email protected]>
tier4 · Jul 13, 2023 · 78d6396 · 78d6396
1 parent eb10100
commit 78d6396
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -15,6 +15,7 @@
       lateral_acceleration_sampling_num: 3
       minimum_lateral_acc: 0.15
       maximum_lateral_acc: 0.5
+      maximum_curvature: 0.07
       # geometric pull out
       enable_geometric_pull_out: true
       divide_pull_out_path: false