Merge pull request autowarefoundation#465 from tier4/cp-lane-change-x2

fix(lane_change): adding lane expansion param for collision check
maxime-clem · Oct 6, 2023 · 9f7a4ed · 9f7a4ed
2 parents 8967b73 + b9a5f8f
commit 9f7a4ed
Showing 1 changed file with 22 additions and 9 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
@@ -28,15 +28,28 @@
 
       # safety check
       safety_check:
-        expected_front_deceleration: -1.0
-        expected_rear_deceleration: -1.0
-        expected_front_deceleration_for_abort: -1.0
-        expected_rear_deceleration_for_abort: -2.0
-        rear_vehicle_reaction_time: 2.0
-        rear_vehicle_safety_time_margin: 1.0
-        lateral_distance_max_threshold: 1.5
-        longitudinal_distance_min_threshold: 3.0
-        longitudinal_velocity_delta_time: 0.8
+        allow_loose_check_for_cancel: true
+        execution:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -1.0
+          rear_vehicle_reaction_time: 2.0
+          rear_vehicle_safety_time_margin: 1.0
+          lateral_distance_max_threshold: 2.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.8
+        cancel:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.5
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 2.5
+          longitudinal_velocity_delta_time: 0.6
+
+        # lane expansion for object filtering
+        lane_expansion:
+          left_offset: 1.0 # [m]
+          right_offset: 1.0 # [m]
 
       # lateral acceleration map
       lateral_acceleration: