Merge pull request autowarefoundation#751 from tier4/sync-beta-upstream

chore: sync beta upstream
maxime-clem · Aug 21, 2024 · 1216f37 · 1216f37
2 parents dd5e549 + cd0e550
commit 1216f37
Showing 1 changed file with 8 additions and 8 deletions.
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
@@ -42,7 +42,7 @@
           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
+          longitudinal_velocity_delta_time: 0.0
         parked:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -58,15 +58,15 @@
           rear_vehicle_safety_time_margin: 0.5
           lateral_distance_max_threshold: 0.75
           longitudinal_distance_min_threshold: 2.0
-          longitudinal_velocity_delta_time: 0.3
+          longitudinal_velocity_delta_time: 0.0
         stuck:
           expected_front_deceleration: -1.0
-          expected_rear_deceleration: -2.0
-          rear_vehicle_reaction_time: 1.5
-          rear_vehicle_safety_time_margin: 0.8
-          lateral_distance_max_threshold: 1.0
-          longitudinal_distance_min_threshold: 2.5
-          longitudinal_velocity_delta_time: 0.6
+          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: 0.0
 
         # lane expansion for object filtering
         lane_expansion: