feat(lane_change): using frenet planner to generate lane change path …

…when ego near terminal (#1290) * add parameter for enabling frenet Signed-off-by: Zulfaqar Azmi <[email protected]> * parameterized th_yaw_diff Signed-off-by: Zulfaqar Azmi <[email protected]> * prepare segment curvature threshold Signed-off-by: Zulfaqar Azmi <[email protected]> * add curvature smoothing Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Jan 14, 2025 · 1243dda · 1243dda
1 parent 1c68a7d
commit 1243dda
Showing 1 changed file with 7 additions and 0 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
@@ -29,6 +29,7 @@
         lon_acc_sampling_num: 5
         lat_acc_sampling_num: 3
         lane_changing_decel_factor: 0.5
+        th_prepare_curvature: 0.03 # [/]
 
       # delay lane change
       delay_lane_change:
@@ -37,6 +38,12 @@
         min_road_shoulder_width: 0.5  # [m]
         th_parked_vehicle_shift_ratio: 0.6
 
+      # trajectory generation near terminal using frenet planner
+      frenet:
+        enable: true
+        th_yaw_diff: 10.0  # [deg]
+        th_curvature_smoothing: 0.1 # [/]
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true