planning: relaxed a distance check between path_end and destination_s…

… for pull over. it was almost unnecessary
wuqunyong · May 14, 2020 · 39b11f8 · 39b11f8
1 parent b1040b7
commit 39b11f8
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt
@@ -341,7 +341,7 @@ default_task_config: {
     is_lane_borrowing: false
     is_pull_over: false
     pull_over_destination_to_adc_buffer: 25.0
-    pull_over_destination_to_pathend_buffer: 10.0
+    pull_over_destination_to_pathend_buffer: 4.0
     pull_over_road_edge_buffer: 0.15
     pull_over_approach_lon_distance_adjust_factor: 1.5
   }

diff --git a/modules/planning/conf/scenario/emergency_pull_over_config.pb.txt b/modules/planning/conf/scenario/emergency_pull_over_config.pb.txt
@@ -89,7 +89,7 @@ stage_config: {
       is_lane_borrowing: false
       is_pull_over: true
       pull_over_destination_to_adc_buffer: 25.0
-      pull_over_destination_to_pathend_buffer: 10.0
+      pull_over_destination_to_pathend_buffer: 4.0
       pull_over_road_edge_buffer: 0.15
       pull_over_approach_lon_distance_adjust_factor: 1.6
     }
@@ -180,4 +180,4 @@ stage_config: {
   task_config: {
     task_type: ST_BOUNDS_DECIDER
   }
-}
+}
diff --git a/modules/planning/conf/scenario/pull_over_config.pb.txt b/modules/planning/conf/scenario/pull_over_config.pb.txt
@@ -39,7 +39,7 @@ stage_config: {
       is_lane_borrowing: false
       is_pull_over: true
       pull_over_destination_to_adc_buffer: 25.0
-      pull_over_destination_to_pathend_buffer: 10.0
+      pull_over_destination_to_pathend_buffer: 4.0
       pull_over_road_edge_buffer: 0.15
       pull_over_approach_lon_distance_adjust_factor: 1.6
     }