From 0e156718f0739fe73a1b7ffa9701f9b5641d6499 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Thu, 7 Nov 2024 11:50:52 +0900 Subject: [PATCH] update README Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_lane_change_module/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index dc077ab02cae6..29b7f39490699 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -341,6 +341,7 @@ The following parameters are configurable in `lane_change.param.yaml`. | `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | | `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | | `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | +| `backward_length_from_intersection` | [m] | double | Distance threshold from the last intersection to invalidate or cancel the lane change path | 5.0 | | `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 | | `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | | `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 |