fix(lane_change): parameter update (autowarefoundation#1115)

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
tier4 · Aug 16, 2024 · c2ccc89 · c2ccc89
1 parent 5ed0b82
commit c2ccc89
Showing 1 changed file with 4 additions and 4 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
@@ -42,7 +42,7 @@
           rear_vehicle_safety_time_margin: 1.0
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          longitudinal_velocity_delta_time: 0.0
         parked:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -58,15 +58,15 @@
           rear_vehicle_safety_time_margin: 0.8
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 2.5
-          longitudinal_velocity_delta_time: 0.6
+          longitudinal_velocity_delta_time: 0.0
         stuck:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
           rear_vehicle_reaction_time: 2.0
           rear_vehicle_safety_time_margin: 1.0
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
-          longitudinal_velocity_delta_time: 0.8
+          longitudinal_velocity_delta_time: 0.0
 
         # lane expansion for object filtering
         lane_expansion:
@@ -98,7 +98,7 @@
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false
-      use_all_predicted_path: true
+      use_all_predicted_path: false
 
       # lane change regulations
       regulation: