feat(autoware_launch): add lane change abort param (#351)

* feat(autoware_launch): add lane change abort param Signed-off-by: Fumiya Watanabe <[email protected]> * fix(autoware_launch): restore some parameters Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>
tier4 · May 16, 2023 · dd5b4dd · dd5b4dd
1 parent ad51559
commit dd5b4dd
Showing 1 changed file with 3 additions and 2 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
@@ -37,8 +37,9 @@
       enable_cancel_lane_change: true
       enable_abort_lane_change: false
 
-      abort_delta_time: 3.0                      # [s]
-      abort_max_lateral_jerk: 1000.0             # [m/s3]
+      abort_delta_time: 1.0                     # [s]
+      aborting_time: 5.0                        # [s]
+      abort_max_lateral_jerk: 100.0             # [m/s3]
 
       # debug
       publish_debug_marker: false