Merge pull request autowarefoundation#527 from tier4/sync-awf-latest

chore: sync awf-latest
maxime-clem · Aug 2, 2024 · f4b30ed · f4b30ed
2 parents a9849d3 + 2244a25
commit f4b30ed
Showing 1 changed file with 11 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
@@ -6,7 +6,6 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
-      lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 
@@ -39,6 +38,14 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.8
+        parked:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.0
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -109,7 +116,9 @@
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
 
-      finish_judge_lateral_threshold: 0.2        # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+      finish_judge_lateral_threshold: 0.1        # [m]
+      finish_judge_lateral_angle_deviation: 1.0 # [deg]
 
       # debug
       publish_debug_marker: true