feat(lane_change): enable lane change in crosswalk/intersection if eg…

…o vehicle gets stuck (#451) Signed-off-by: Fumiya Watanabe <[email protected]>
tier4 · Oct 1, 2023 · e960b15 · e960b15
1 parent 008316e
commit e960b15
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
@@ -67,6 +67,11 @@
         crosswalk: true
         intersection: false
 
+      # ego vehicle stuck detection
+      stuck_detection:
+        velocity: 0.1 # [m/s]
+        stop_time: 3.0 # [s]
+
       # lane change cancel
       cancel:
         enable_on_prepare_phase: true