From c7c04ea5a6afc9f81cb60ffeeb73a03fe5b431f8 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 25 Nov 2022 17:38:49 +0900 Subject: [PATCH] fix(planning_launch): revise lane change parameters (#567) * fix(planning_launch): revise lane change parameters Signed-off-by: Muhammad Zulfaqar Azmi * disable collision check at prepare phase Signed-off-by: Muhammad Zulfaqar Azmi * enable collision check at prepare and no use all predicted Signed-off-by: Muhammad Zulfaqar Azmi * reduced front expected deceleration Signed-off-by: Muhammad Zulfaqar Azmi * additional config Signed-off-by: Muhammad Zulfaqar Azmi * fixed lateral and longitudinal value Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/behavior_path_planner.param.yaml | 4 ++-- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) 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 b9c50b15e5..252cb5451d 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 @@ -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/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index a1ad81b61e..fc8b314b09 100644 --- a/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/planning_launch/config/scenario_planning/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