From 8c5f2d424bc28223093d822fc9fac489a24d3a56 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 25 Nov 2022 19:42:47 +0900 Subject: [PATCH] feat(planning_launch): abort deceleration for abort param (#576) * feat(planning_launch): abort deceleration for abort param Signed-off-by: Muhammad Zulfaqar Azmi * rename parameter to make is expressive Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/behavior_path_planner.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 252cb5451d..b32e4e1b67 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -31,5 +31,9 @@ longitudinal_distance_min_threshold: 3.0 expected_front_deceleration: -0.5 expected_rear_deceleration: -1.0 + + expected_front_deceleration_for_abort: -2.0 + expected_rear_deceleration_for_abort: -2.5 + rear_vehicle_reaction_time: 2.0 rear_vehicle_safety_time_margin: 2.0