From 1c68a7d1978308bd6b8572b4c3c8d0abfa817158 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Fri, 27 Dec 2024 17:27:30 +0900 Subject: [PATCH] feat(lane_change): add lane change parameter (#1263) * add flag to enable/disable terminal path feature Signed-off-by: mohammad alqudah * add parameter to cofigure stop point placement Signed-off-by: mohammad alqudah * add flag to disable feature near goal Signed-off-by: mohammad alqudah * set default flag value to false Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../lane_change/lane_change.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) 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 5d18394666..19d6e80b9c 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 @@ -10,6 +10,12 @@ # turn signal min_length_for_turn_signal_activation: 10.0 # [m] + # terminal path + terminal_path: + enable: true + disable_near_goal: true + stop_at_boundary: false + # trajectory generation trajectory: max_prepare_duration: 4.0