From 24fd44b3a08bd93fcf0afff29218a13afcd13c80 Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Tue, 9 Jan 2024 18:00:31 +0900
Subject: [PATCH] fix(lane_change): set lane change parameters to real vehicle
 environment (#761)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
---
 .../lane_change/lane_change.param.yaml        | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

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 366c093901..57899fada8 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
@@ -57,14 +57,14 @@
 
         # lane expansion for object filtering
         lane_expansion:
-          left_offset: 0.0 # [m]
-          right_offset: 0.0 # [m]
+          left_offset: 1.0 # [m]
+          right_offset: 1.0 # [m]
 
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]
-        min_values: [0.15, 0.15, 0.15]
-        max_values: [0.5, 0.5, 0.5]
+        min_values: [0.4, 0.4, 0.4]
+        max_values: [0.65, 0.65, 0.65]
 
       # target object
       target_object:
@@ -72,7 +72,7 @@
         truck: true
         bus: true
         trailer: true
-        unknown: true
+        unknown: false
         bicycle: true
         motorcycle: true
         pedestrian: true
@@ -80,14 +80,14 @@
       # collision check
       enable_prepare_segment_collision_check: false
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
-      check_objects_on_current_lanes: true
-      check_objects_on_other_lanes: true
+      check_objects_on_current_lanes: false
+      check_objects_on_other_lanes: false
       use_all_predicted_path: true
 
       # lane change regulations
       regulation:
-        crosswalk: false
-        intersection: false
+        crosswalk: true
+        intersection: true
         traffic_light: true
 
       # ego vehicle stuck detection
@@ -107,4 +107,4 @@
       finish_judge_lateral_threshold: 0.2        # [m]
 
       # debug
-      publish_debug_marker: false
+      publish_debug_marker: true