feat(behavior_path_planner): pull over support road_lane and right_ha…

…nd_traffic (#300) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Apr 17, 2023 · fc12862 · fc12862
1 parent fbf9607
commit fc12862
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -11,9 +11,9 @@
       decide_path_distance: 10.0
       maximum_deceleration: 1.0
       maximum_jerk: 1.0
-      # goal research
-      enable_goal_research: true
+      # goal search
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
+      parking_policy: "left_side" # "left_side" or "right_side"
       forward_goal_search_length: 20.0
       backward_goal_search_length: 20.0
       goal_search_interval: 2.0