feat(lane_change): relax lane change execution and cancel with rear_v…

…ehicle_reaction_time (autowarefoundation#765) Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
maxime-clem · Feb 2, 2024 · 956e6e7 · 956e6e7
1 parent 4759291
commit 956e6e7
Showing 1 changed file with 2 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
@@ -33,15 +33,15 @@
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
-          rear_vehicle_reaction_time: 2.0
+          rear_vehicle_reaction_time: 1.5
           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
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
-          rear_vehicle_reaction_time: 1.5
+          rear_vehicle_reaction_time: 1.0
           rear_vehicle_safety_time_margin: 0.8
           lateral_distance_max_threshold: 1.0
           longitudinal_distance_min_threshold: 2.5