Merge pull request #449 from tier4/feat/lane-change-not-on-crosswalk

feat(planning_launch): add config for regulate lane change (#582)
tier4 · Sep 26, 2023 · bd369ec · bd369ec
2 parents f66a293 + 59491ac
commit bd369ec
Showing 1 changed file with 5 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
@@ -62,6 +62,11 @@
       check_objects_on_other_lanes: false
       use_all_predicted_path: false
 
+      # lane change regulations
+      regulation:
+        crosswalk: true
+        intersection: false
+
       # lane change cancel
       cancel:
         enable_on_prepare_phase: true