perf(goal_planner): faster path sorting and selection (#1119)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Aug 21, 2024 · d38a63e · d38a63e
1 parent 5a39a41
commit d38a63e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -36,7 +36,7 @@
       # object recognition
       object_recognition:
         use_object_recognition: true
-        collision_check_soft_margins: [2.0, 1.5, 1.0]
+        collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  # the maximum margin when ego and objects are oriented.
         collision_check_hard_margins: [0.6]  # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0