feat(lane_change): add param for lateral angle deviation (autowarefou…

…ndation#1087) * RT1-6514 adding lateral angle deviation param Signed-off-by: Zulfaqar Azmi <[email protected]> * decrease angle deviation threshold to fix rtc issue Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
technolojin · Aug 2, 2024 · f489384 · f489384
1 parent 83c6907
commit f489384
Showing 1 changed file with 3 additions and 2 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
@@ -6,7 +6,6 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
-      lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 
@@ -109,7 +108,9 @@
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
 
-      finish_judge_lateral_threshold: 0.2        # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+      finish_judge_lateral_threshold: 0.1        # [m]
+      finish_judge_lateral_angle_deviation: 1.0 # [deg]
 
       # debug
       publish_debug_marker: true