navi_planner_config.pb.txt

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task : NAVI_PATH_DECIDER
task : NAVI_SPEED_DECIDER
navi_path_decider_config {
min_path_length: 5
min_look_forward_time: 2
max_keep_lane_distance: 0.4
max_keep_lane_shift_y: 0.15
min_keep_lane_offset: 0.20
keep_lane_shift_compensation: 0.01
move_dest_lane_config_talbe {
    lateral_shift {
    max_speed: 34
    max_move_dest_lane_shift_y: 0.45
    }
}
move_dest_lane_compensation: 0.35
max_kappa_threshold: 0.0
kappa_move_dest_lane_compensation: 0.0
start_plan_point_from: 0
}
 
navi_speed_decider_config {
preferred_accel: 1.5
preferred_decel: 1.5
preferred_jerk: 2.0
max_accel: 4.0
max_decel: 5.0
obstacle_buffer: 1.0
safe_distance_base: 10.0
safe_distance_ratio: 1.0
following_accel_ratio: 0.5
soft_centric_accel_limit: 1.0
hard_centric_accel_limit: 1.5
hard_speed_limit: 40.0
hard_accel_limit: 8.0
enable_safe_path: false
enable_planning_start_point: true
enable_accel_auto_compensation: false
kappa_preview: 80.0
kappa_threshold: 0.02
}
 
navi_obstacle_decider_config {
min_nudge_distance: 0.2
max_nudge_distance: 1.1
max_allow_nudge_speed: 16.667
safe_distance: 0.2
nudge_allow_tolerance : 0.05
cycles_number : 3
judge_dis_coeff : 2.0
basis_dis_value : 30.0
lateral_velocity_value : 0.5
speed_decider_detect_range : 0.35
max_keep_nudge_cycles : 110
}