feat(lane_change): increat cancel delta_time to suppress chattering (#…

…529) Signed-off-by: kosuke55 <[email protected]>
tier4 · Jun 25, 2024 · 0d4abbf · 0d4abbf
1 parent 79ad443
commit 0d4abbf
Showing 1 changed file with 1 addition and 1 deletion.
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
@@ -120,7 +120,7 @@
       cancel:
         enable_on_prepare_phase: true
         enable_on_lane_changing_phase: false
-        delta_time: 1.0                     # [s]
+        delta_time: 2.0                     # [s]
         duration: 5.0                       # [s]
         max_lateral_jerk: 100.0             # [m/s3]
         overhang_tolerance: 0.0             # [m]