refactor(lane_change): add missing safety check parameter (#1300)

* refactor(lane_change): parameterize incoming object angle for filter Signed-off-by: Zulfaqar Azmi <[email protected]> * add missing param Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Jan 16, 2025 · ece815a · ece815a
1 parent 9240e58
commit ece815a
Showing 1 changed file with 6 additions and 1 deletion.
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
@@ -58,6 +58,7 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
         parked:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -66,6 +67,7 @@
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -74,6 +76,7 @@
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 2.5
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
         stuck:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
@@ -82,6 +85,7 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.0
+          extended_polygon_policy: "rectangle"
 
         # lane expansion for object filtering
         lane_expansion:
@@ -112,7 +116,8 @@
           intersection: true
           turns: true
         prediction_time_resolution: 0.5
-        yaw_diff_threshold: 3.1416
+        th_incoming_object_yaw: 2.3562 # [rad]
+        yaw_diff_threshold: 3.1416 # [rad]
         check_current_lanes: false
         check_other_lanes: false
         use_all_predicted_paths: false