Merge pull request #537 from tier4/cp-lane-change-longitudinal-filter

feat(lane_change): cherry-pick lane change commits to beta/v0.29.0
tier4 · Aug 16, 2024 · 0a16746 · 0a16746
2 parents 42a565e + de5dde8
commit 0a16746
Showing 1 changed file with 16 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
@@ -6,7 +6,6 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
-      lane_change_finish_judge_buffer: 2.0      # [m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
 
@@ -27,6 +26,11 @@
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0
 
+      skip_process:
+        longitudinal_distance_diff_threshold:
+          prepare: 1.0
+          lane_changing: 1.0
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
@@ -39,6 +43,14 @@
           lateral_distance_max_threshold: 2.0
           longitudinal_distance_min_threshold: 3.0
           longitudinal_velocity_delta_time: 0.8
+        parked:
+          expected_front_deceleration: -1.0
+          expected_rear_deceleration: -2.0
+          rear_vehicle_reaction_time: 1.0
+          rear_vehicle_safety_time_margin: 0.8
+          lateral_distance_max_threshold: 1.0
+          longitudinal_distance_min_threshold: 3.0
+          longitudinal_velocity_delta_time: 0.0
         cancel:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -2.0
@@ -109,7 +121,9 @@
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
 
-      finish_judge_lateral_threshold: 0.2        # [m]
+      lane_change_finish_judge_buffer: 2.0      # [m]
+      finish_judge_lateral_threshold: 0.1        # [m]
+      finish_judge_lateral_angle_deviation: 1.0 # [deg]
 
       # debug
       publish_debug_marker: true