feat(lane_change): check lateral offset at lc finish judgement (#375)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · May 30, 2023 · 0207a00 · 0207a00
1 parent 402b2ff
commit 0207a00
Showing 1 changed file with 2 additions and 0 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
@@ -50,5 +50,7 @@
       aborting_time: 5.0                        # [s]
       abort_max_lateral_jerk: 100.0             # [m/s3]
 
+      finish_judge_lateral_threshold: 0.2        # [m]
+
       # debug
       publish_debug_marker: false