feat(lane_following): consider lane-ego angle diff

Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>
autowarefoundation · Mar 14, 2023 · bed67b3 · bed67b3
1 parent 55aaf40
commit bed67b3
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml b/..._driving/behavior_planning/behavior_path_planner/lane_following/lane_following.param.yaml
@@ -2,3 +2,7 @@
   ros__parameters:
     lane_following:
       lane_change_prepare_duration: 2.0
+
+      closest_lanelet:
+        distance_threshold: 5.0 # [m]
+        yaw_threshold: 0.79 # [rad]