From 78d639658e94807ae1b5acaf48506a8f71cdf472 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 13 Jul 2023 17:05:09 +0900 Subject: [PATCH] feat(start_planner): add curvature limit for path generation (#446) * add param for curvature shift start Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe * change param Signed-off-by: Takamasa Horibe * maximum_curvature: 0.07 Signed-off-by: kosuke55 --------- Signed-off-by: Takamasa Horibe Signed-off-by: kosuke55 Co-authored-by: kosuke55 --- .../behavior_path_planner/start_planner/start_planner.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 fe98d7aa2a..5ae5c99ff8 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 @@ -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