From 50c2da656a104ec68b28c71f63d8afcd1df66cbd Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Fri, 13 Oct 2023 16:56:22 +0900 Subject: [PATCH] feat(lane_change): add rss paramas for stuck Signed-off-by: kosuke55 --- .../lane_change/lane_change.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index a090a6d3a8..81004d859a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -45,6 +45,14 @@ lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 2.5 longitudinal_velocity_delta_time: 0.6 + stuck: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -1.0 + rear_vehicle_reaction_time: 2.0 + rear_vehicle_safety_time_margin: 1.0 + lateral_distance_max_threshold: 2.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.8 # lane expansion for object filtering lane_expansion: