Planning: added path_reuse_decider to lane_follow scenario.

ApolloAuto · Sep 18, 2019 · f06f778 · f06f778
1 parent 2ce004b
commit f06f778
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/modules/planning/conf/scenario/lane_follow_config.pb.txt b/modules/planning/conf/scenario/lane_follow_config.pb.txt
@@ -4,6 +4,7 @@ stage_config: {
   stage_type: LANE_FOLLOW_DEFAULT_STAGE
   enabled: true
   task_type: LANE_CHANGE_DECIDER
+  task_type: PATH_REUSE_DECIDER
   task_type: PATH_LANE_BORROW_DECIDER
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
@@ -23,6 +24,14 @@ stage_config: {
       enable_lane_change_urgency_check: true
     }
   }
+
+  task_config: {
+    task_type: PATH_REUSE_DECIDER
+    path_reuse_decider_config {
+      reuse_path: false
+    }
+  }
+
   task_config: {
     task_type: PATH_LANE_BORROW_DECIDER
     path_lane_borrow_decider_config {