feat(lane_change): add new lane change parameter (#1224)

* add minimum prepare duration parameter Signed-off-by: mohammad alqudah <[email protected]> * increase min_prepare_duration to 1.0 s Signed-off-by: mohammad alqudah <[email protected]> * increase min prepare duration value, add new parameter Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
autowarefoundation · Dec 5, 2024 · a8368db · a8368db
1 parent d9ac509
commit a8368db
Showing 1 changed file with 3 additions and 1 deletion.
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
@@ -11,7 +11,8 @@
 
       # trajectory generation
       trajectory:
-        prepare_duration: 4.0
+        max_prepare_duration: 4.0
+        min_prepare_duration: 2.0
         lateral_jerk: 0.5
         min_longitudinal_acc: -1.0
         max_longitudinal_acc: 1.0
@@ -20,6 +21,7 @@
         min_lane_changing_velocity: 2.78
         lon_acc_sampling_num: 5
         lat_acc_sampling_num: 3
+        lane_changing_decel_factor: 0.5
 
       # delay lane change
       delay_lane_change: