feat(lane_change): add rss paramas for stuck (#633)

Signed-off-by: kosuke55 <[email protected]>
tier4 · Oct 15, 2023 · d95d929 · d95d929
1 parent 807e5c6
commit d95d929
Showing 1 changed file with 8 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
@@ -45,6 +45,14 @@
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 2.5
           longitudinal_velocity_delta_time: 0.6
+        stuck:
+          expected_front_deceleration: -1.0
+          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: 0.8
 
         # lane expansion for object filtering
         lane_expansion: