From f53f193fd566958afca0b601eab9e7b486394c23 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 2 Feb 2024 14:09:29 +0900 Subject: [PATCH] docs(lane_change): add description for lane expansion (#6251) * docs(lane_change): add description for lane expansion Signed-off-by: Fumiya Watanabe * Update planning/behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --------- Signed-off-by: Fumiya Watanabe Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- planning/behavior_path_lane_change_module/README.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index bffa5201f2882..9ff8939862c65 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -361,6 +361,13 @@ The following parameters are configurable in `lane_change.param.yaml`. The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`. +#### common + +| Name | Unit | Type | Description | Default value | +| :----------------------------------------- | ---- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.lane_expansion.left_offset` | [m] | double | Expand the left boundary of the detection area, allowing objects previously outside on the left to be detected and registered as targets. | 0.0 | +| `safety_check.lane_expansion.right_offset` | [m] | double | Expand the right boundary of the detection area, allowing objects previously outside on the right to be detected and registered as targets. | 0.0 | + #### execution | Name | Unit | Type | Description | Default value |