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docs(lane_change): add description for lane expansion #6251

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merged 4 commits into from
Feb 2, 2024
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docs(lane_change): add description for lane expansion #6251

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docs(lane_change): add description for lane expansion
rej55 Jan 31, 2024
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Update planning/behavior_path_lane_change_module/README.md
rej55 Jan 31, 2024
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Update planning/behavior_path_lane_change_module/README.md
rej55 Jan 31, 2024
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style(pre-commit): autofix
pre-commit-ci[bot] Jan 31, 2024
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7 changes: 7 additions & 0 deletions planning/behavior_path_lane_change_module/README.md
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Expand Up @@ -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 |
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