feat(planning_launch): lane change abort parameters (autowarefoundati…

…on#583) * feat(planning_launch): lane change abort parameters Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * allow very high lateral jerk for now Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove unnecessary parameter Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * set abort to false Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix parameter Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
TomohitoAndo · Jan 5, 2023 · 3342ed4 · 3342ed4
1 parent 5895271
commit 3342ed4
Showing 1 changed file with 13 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
@@ -9,21 +9,26 @@
       backward_length_buffer_for_end_of_lane: 2.0
       lane_change_finish_judge_buffer: 3.0      # [m]
 
-      double lane_changing_lateral_jerk: 0.5
-      double lane_changing_lateral_acc: 0.5
+      lane_changing_lateral_jerk: 0.5           # [m/s3]
+      lane_changing_lateral_acc: 0.5            # [m/s2]
 
       minimum_lane_change_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
       maximum_deceleration: 1.0                 # [m/s2]
       lane_change_sampling_num: 10
 
-      abort_lane_change_velocity_thresh: 0.5
-      abort_lane_change_angle_thresh: 10.0      # [deg]
-      abort_lane_change_distance_thresh: 0.3    # [m]
-      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
-
-      enable_abort_lane_change: true
+      # collision check
       enable_collision_check_at_prepare_phase: true
+      prepare_phase_ignore_target_speed_thresh: 0.1 # [m/s]
       use_predicted_path_outside_lanelet: true
       use_all_predicted_path: false
+
+      # abort
+      enable_cancel_lane_change: true
+      enable_abort_lane_change: false
+
+      abort_delta_time: 3.0                      # [s]
+      abort_max_lateral_jerk: 1000.0             # [m/s3]
+
+      # debug
       publish_debug_marker: false