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fix(lane_change): set lane change parameters to real vehicle environment #761

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merged 2 commits into from
Jan 9, 2024
Merged

fix(lane_change): set lane change parameters to real vehicle environment #761

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1aba775
fix(lane_change): set lane change parameters to real vehicle environment
rej55 Dec 27, 2023
8c86de0
Merge branch 'main' into fix/lane_change_params
rej55 Jan 9, 2024
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20 changes: 10 additions & 10 deletions ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -57,37 +57,37 @@

# lane expansion for object filtering
lane_expansion:
left_offset: 0.0 # [m]
right_offset: 0.0 # [m]
left_offset: 1.0 # [m]
right_offset: 1.0 # [m]

# lateral acceleration map
lateral_acceleration:
velocity: [0.0, 4.0, 10.0]
min_values: [0.15, 0.15, 0.15]
max_values: [0.5, 0.5, 0.5]
min_values: [0.4, 0.4, 0.4]
max_values: [0.65, 0.65, 0.65]

# target object
target_object:
car: true
truck: true
bus: true
trailer: true
unknown: true
unknown: false
bicycle: true
motorcycle: true
pedestrian: true

# collision check
enable_prepare_segment_collision_check: false
prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
check_objects_on_current_lanes: true
check_objects_on_other_lanes: true
check_objects_on_current_lanes: false
check_objects_on_other_lanes: false
use_all_predicted_path: true

# lane change regulations
regulation:
crosswalk: false
intersection: false
crosswalk: true
intersection: true
traffic_light: true

# ego vehicle stuck detection
Expand All @@ -107,4 +107,4 @@
finish_judge_lateral_threshold: 0.2 # [m]

# debug
publish_debug_marker: false
publish_debug_marker: true
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