fix(planning_launch): revise lane change parameters (autowarefoundati…

…on#567) * fix(planning_launch): revise lane change parameters Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * disable collision check at prepare phase Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * enable collision check at prepare and no use all predicted Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * reduced front expected deceleration Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * additional config Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fixed lateral and longitudinal value Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
TomohitoAndo · Nov 25, 2022 · c7c04ea · c7c04ea
1 parent 9dcccf6
commit c7c04ea
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -27,9 +27,9 @@
 
     visualize_drivable_area_for_shared_linestrings_lanelet: true
 
-    lateral_distance_max_threshold: 5.0
+    lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
-    expected_front_deceleration: -1.0
+    expected_front_deceleration: -0.5
     expected_rear_deceleration: -1.0
     rear_vehicle_reaction_time: 2.0
     rear_vehicle_safety_time_margin: 2.0
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
@@ -3,7 +3,7 @@
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
       lane_changing_duration: 8.0               # [s]
-      minimum_lane_change_prepare_distance: 4.0 # [m]
+      minimum_lane_change_prepare_distance: 2.0 # [m]
       lane_change_finish_judge_buffer: 3.0      # [m]
       minimum_lane_change_velocity: 5.6         # [m/s]
       prediction_time_resolution: 0.5           # [s]
@@ -15,5 +15,5 @@
       enable_abort_lane_change: true
       enable_collision_check_at_prepare_phase: true
       use_predicted_path_outside_lanelet: true
-      use_all_predicted_path: true
+      use_all_predicted_path: false
       publish_debug_marker: false