From 1b3c7c5cfcfba89f7be45948f0a39790519aa6f2 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 21 Aug 2024 21:16:47 +0900 Subject: [PATCH] feat(lane_change): consider deceleration in safety check for cancel (#1068) Signed-off-by: Fumiya Watanabe --- .../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 493279ff25..0cea2aa62b 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 @@ -120,6 +120,7 @@ max_lateral_jerk: 100.0 # [m/s3] overhang_tolerance: 0.0 # [m] unsafe_hysteresis_threshold: 5 # [/] + deceleration_sampling_num: 5 # [/] lane_change_finish_judge_buffer: 2.0 # [m] finish_judge_lateral_threshold: 0.1 # [m]