feat(behavior_path_planner): add new lateral acceleration (autowarefo…

…undation#283)
keiota · Apr 10, 2023 · ea7cb4e · ea7cb4e
1 parent 07c5d74
commit ea7cb4e
Showing 1 changed file with 4 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
@@ -8,8 +8,10 @@
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       lane_change_finish_judge_buffer: 2.0      # [m]
 
-      lane_changing_lateral_jerk: 0.5           # [m/s3]
-      lane_changing_lateral_acc: 0.5            # [m/s2]
+      lane_changing_lateral_jerk: 0.5              # [m/s3]
+      lane_changing_lateral_acc: 0.315             # [m/s2]
+      lane_changing_lateral_acc_at_low_velocity: 0.15 # [m/s2]
+      lateral_acc_switching_velocity: 4.0          #[m/s]
 
       minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]