From a8368db1c112b1e91e3f8e8a27dcf61f359de5b5 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 5 Dec 2024 09:05:36 +0900 Subject: [PATCH] feat(lane_change): add new lane change parameter (#1224) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah * increase min_prepare_duration to 1.0 s Signed-off-by: mohammad alqudah * increase min prepare duration value, add new parameter Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index fe8915c784..27349f077d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -11,7 +11,8 @@ # trajectory generation trajectory: - prepare_duration: 4.0 + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 lateral_jerk: 0.5 min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 @@ -20,6 +21,7 @@ min_lane_changing_velocity: 2.78 lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 # delay lane change delay_lane_change: