feat(lane_change): use different rss param to deal with parked vehicle (

autowarefoundation#1104) use separate rss for parked vehicle Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
tier4 · Aug 13, 2024 · b07b8a7 · b07b8a7
1 parent 91cc15b
commit b07b8a7
Showing 1 changed file with 8 additions and 0 deletions.
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
@@ -38,6 +38,14 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.8
+        parked:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.0
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0