From 13b3a38a080a024ef41402fa4feb8c6e40989ba9 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Tue, 24 Jan 2023 20:46:21 +0900
Subject: [PATCH] fix(lane change): adaptive safety check time parameters
 (#734)

---
 .../behavior_path_planner/behavior_path_planner.param.yaml   | 2 +-
 .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 7a6bd05976..3e70681dbd 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -31,4 +31,4 @@
     expected_rear_deceleration_for_abort: -2.0
 
     rear_vehicle_reaction_time: 2.0
-    rear_vehicle_safety_time_margin: 2.0
+    rear_vehicle_safety_time_margin: 1.0
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 41de868418..c25eb73d62 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
@@ -2,7 +2,6 @@
   ros__parameters:
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
-      lane_changing_safety_check_duration: 8.0  # [s]
 
       minimum_lane_change_prepare_distance: 2.0 # [m]
       minimum_lane_change_length: 16.5          # [m]
@@ -18,9 +17,9 @@
       lane_change_sampling_num: 10
 
       # collision check
-      enable_collision_check_at_prepare_phase: true
+      enable_collision_check_at_prepare_phase: false
       prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
-      use_predicted_path_outside_lanelet: true
+      use_predicted_path_outside_lanelet: false
       use_all_predicted_path: false
 
       # abort