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

…o vehicle gets stuck Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Sep 25, 2023 · 5526ac7 · 5526ac7
1 parent 34b0062
commit 5526ac7
Showing 1 changed file with 7 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
@@ -64,8 +64,13 @@
 
       # lane change regulations
       regulation:
-        crosswalk: false
-        intersection: false
+        crosswalk: true
+        intersection: true
+
+      # ego vehicle stuck detection
+      stuck_detection:
+        velocity: 0.1 # [m/s]
+        stop_time: 3.0 # [s]
 
       # lane change cancel
       cancel: