perf(path_sampler): tune lateral_deviation_weight for more stable pla…

…nning (#455) Set lateral_deviation_weight 0.1 -> 1.0 Signed-off-by: Maxime CLEMENT <[email protected]>
tier4 · Jul 25, 2023 · 28c86e6 · 28c86e6
1 parent 66cb0fa
commit 28c86e6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...nning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/...nning/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: