feat(planning_launch): new lane change path generation parameters (#629)

* feat(planning_launch): new lane change path generation parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rearrange parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix parameter for stable result Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Preparing for #652 Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
tier4 · Dec 23, 2022 · 04a9560 · 04a9560
1 parent 166f153
commit 04a9560
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Showing 2 changed files with 15 additions and 7 deletions.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -2,10 +2,8 @@
   ros__parameters:
     backward_path_length: 5.0
     forward_path_length: 300.0
-    backward_length_buffer_for_end_of_lane: 5.0
     backward_length_buffer_for_end_of_pull_over: 5.0
     backward_length_buffer_for_end_of_pull_out: 5.0
-    minimum_lane_change_length: 12.0
     minimum_pull_over_length: 16.0
 
     refine_goal_search_radius_range: 7.5
@@ -23,11 +21,11 @@
 
     lateral_distance_max_threshold: 2.0
     longitudinal_distance_min_threshold: 3.0
-    expected_front_deceleration: -0.5
+    expected_front_deceleration: -1.0
     expected_rear_deceleration: -1.0
 
-    expected_front_deceleration_for_abort: -2.0
-    expected_rear_deceleration_for_abort: -2.5
+    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: 2.0
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
@@ -2,16 +2,26 @@
   ros__parameters:
     lane_change:
       lane_change_prepare_duration: 4.0         # [s]
-      lane_changing_duration: 8.0               # [s]
+      lane_changing_safety_check_duration: 8.0  # [s]
+
       minimum_lane_change_prepare_distance: 2.0 # [m]
+      minimum_lane_change_length: 16.5
+      backward_length_buffer_for_end_of_lane: 2.0
       lane_change_finish_judge_buffer: 3.0      # [m]
-      minimum_lane_change_velocity: 5.6         # [m/s]
+
+      double lane_changing_lateral_jerk: 0.5
+      double lane_changing_lateral_acc: 0.5
+
+      minimum_lane_change_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
       lane_change_sampling_num: 10
+
       abort_lane_change_velocity_thresh: 0.5
       abort_lane_change_angle_thresh: 10.0      # [deg]
       abort_lane_change_distance_thresh: 0.3    # [m]
+      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
+
       enable_abort_lane_change: true
       enable_collision_check_at_prepare_phase: true
       use_predicted_path_outside_lanelet: true