From ab654e6f8cfbadcf7afdc1cffb98b1cd6893387d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 13 Aug 2024 10:44:50 +0900 Subject: [PATCH] fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (#1108) add skip process lon dist diff threshold Signed-off-by: Zulfaqar Azmi --- .../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 29942b6e38..f40992f354 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 @@ -26,6 +26,11 @@ min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 + skip_process: + longitudinal_distance_diff_threshold: + prepare: 1.0 + lane_changing: 1.0 + # safety check safety_check: allow_loose_check_for_cancel: true