From 8851d9f0cb6aaf54baf0964f6529fc5cc49aa189 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Thu, 28 Sep 2023 12:47:21 +0900 Subject: [PATCH] feat(lane_change): expand target lanes for object filtering Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 1accb1f709..1be71cae53 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -38,6 +38,11 @@ longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + # lane expansion for object filtering + lane_expansion: + left_offset: 0.0 # [m] + right_offset: 0.0 # [m] + # lateral acceleration map lateral_acceleration: velocity: [0.0, 4.0, 10.0]