feat(lane_change): check prepare phase in turn direction lanes (autow…

…arefoundation#943) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
tier4 · May 16, 2024 · d4574e2 · d4574e2
1 parent ccbe4b9
commit d4574e2
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/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