From ea7cb4e530ac5f1b6e032e943c5a7691ea73bac6 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon, 10 Apr 2023 09:57:33 +0900 Subject: [PATCH] feat(behavior_path_planner): add new lateral acceleration (#283) --- .../lane_change/lane_change.param.yaml | 6 ++++-- 1 file changed, 4 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 81a7761e766f3..ec12b836e389f 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 @@ -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]