From 1bde013456d40f103f2299ea4caebcb705646788 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 5 Apr 2024 10:50:23 +0900 Subject: [PATCH] feat(lane_change): check prepare phase in turn direction lanes (#943) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 32699907a2..10757691c9 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 @@ -81,6 +81,7 @@ enable_collision_check_for_prepare_phase: general_lanes: false intersection: true + turns: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: false check_objects_on_other_lanes: false