feat(lane_change): add delay lane change parameters (#1256)

add delay lane change parameters Signed-off-by: mohammad alqudah <[email protected]>
autowarefoundation · Nov 28, 2024 · 99a75f8 · 99a75f8
1 parent 44afd91
commit 99a75f8
Showing 1 changed file with 7 additions and 4 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
@@ -6,10 +6,6 @@
       backward_length_buffer_for_blocking_object: 3.0 # [m]
       backward_length_from_intersection: 5.0 # [m]
 
-      # side walk parked vehicle
-      object_check_min_road_shoulder_width: 0.5  # [m]
-      object_shiftable_ratio_threshold: 0.6
-
       # turn signal
       min_length_for_turn_signal_activation: 10.0 # [m]
 
@@ -25,6 +21,13 @@
         lon_acc_sampling_num: 5
         lat_acc_sampling_num: 3
 
+      # delay lane change
+      delay_lane_change:
+        enable: true
+        check_only_parked_vehicle: false
+        min_road_shoulder_width: 0.5  # [m]
+        th_parked_vehicle_shift_ratio: 0.6
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true