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chore: sync awf-latest #735

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Jan 16, 2025
Merged

chore: sync awf-latest #735

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7 changes: 6 additions & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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:
Expand Down Expand Up @@ -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
Expand Down
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