From ab70405ec84296b887f8e9a0be4c3017c50b90e5 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 2 Feb 2024 23:24:26 +0900 Subject: [PATCH] feat(lane_change): relax lane change execution and cancel with rear_vehicle_reaction_time (#765) Signed-off-by: Shumpei Wakabayashi --- .../behavior_path_planner/lane_change/lane_change.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 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 a25234e100..a571a8adb8 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 @@ -33,7 +33,7 @@ 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 @@ -41,7 +41,7 @@ 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