From 9c3438b94801045c3b0b19d56c9b7d974c6c5b73 Mon Sep 17 00:00:00 2001 From: yutaka Date: Fri, 7 Apr 2023 01:21:41 +0900 Subject: [PATCH] feat(behavior_path_planner): add new lateral acceleration Signed-off-by: yutaka --- .../lane_change/lane_change.param.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) 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 f197ddcf76..8462d63d0b 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 @@ -8,8 +8,10 @@ backward_length_buffer_for_end_of_lane: 3.0 # [m] lane_change_finish_judge_buffer: 2.0 # [m] - lane_changing_lateral_jerk: 0.5 # [m/s3] - lane_changing_lateral_acc: 0.5 # [m/s2] + lane_changing_lateral_jerk: 0.5 # [m/s3] + lane_changing_lateral_acc: 0.315 # [m/s2] + lane_changing_lateral_acc_at_low_velocity: 0.15 # [m/s2] + lateral_acc_switching_velocity: 4.0 #[m/s] minimum_lane_changing_velocity: 2.78 # [m/s] prediction_time_resolution: 0.5 # [s]