feat(pull_out): support pull out normal lane (#377)

* add th_blinker_on_lateral_offset: 1.0 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * minimum_shift_pull_out_distance: 0.0 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * minimum_lateral_jerk: 0.1 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Jun 8, 2023 · de503e9 · de503e9
1 parent 468bec7
commit de503e9
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/...lanning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -4,15 +4,16 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
+      th_blinker_on_lateral_offset: 1.0
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       # shift pull out
       enable_shift_pull_out: true
       shift_pull_out_velocity: 2.0
       pull_out_sampling_num: 4
-      minimum_shift_pull_out_distance: 20.0
+      minimum_shift_pull_out_distance: 0.0
       maximum_lateral_jerk: 2.0
-      minimum_lateral_jerk: 0.5
+      minimum_lateral_jerk: 0.1
       deceleration_interval: 15.0
       # geometric pull out
       enable_geometric_pull_out: true