From 3e4aa01bed2ffb70a2cba7cc8c865d5e025af2a7 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Mon, 15 Jan 2024 14:25:40 +0900
Subject: [PATCH] feat(start_planner): shorten max backward distance  (#734)

Update start_planner.param.yaml
---
 .../start_planner/start_planner.param.yaml                      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 277771f13f..592302ce5d 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
@@ -32,7 +32,7 @@
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"
-      max_back_distance: 30.0
+      max_back_distance: 20.0
       backward_search_resolution: 2.0
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0