From e960b15f604acf074976c34fe2bae6aef75a1ac4 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Sun, 1 Oct 2023 11:12:34 +0900 Subject: [PATCH] feat(lane_change): enable lane change in crosswalk/intersection if ego vehicle gets stuck (#451) Signed-off-by: Fumiya Watanabe --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index 804268af3d..f9b300a564 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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