Merge pull request autowarefoundation#852 from tier4/cp-lane-change

fix(lane_change): cherry-pick several commits
tier4 · May 20, 2024 · d8ad987 · d8ad987
2 parents 7847a2d + d4574e2
commit d8ad987
Showing 1 changed file with 4 additions and 1 deletion.
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
@@ -78,7 +78,10 @@
         pedestrian: true
 
       # collision check
-      enable_prepare_segment_collision_check: false
+      enable_collision_check_for_prepare_phase:
+        general_lanes: false
+        intersection: true
+        turns: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false