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feat(lane_changing): improve computation of lane changing acceleration (#9545)
* allow decelerating in lane changing phase near terminal
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
* Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
* run pre-commit check
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
* fix spelling
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
* fix format
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Copy file name to clipboardexpand all lines: planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
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@@ -893,6 +893,7 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi
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|`trajectory.lat_acc_sampling_num`|[-]| int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 |
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|`trajectory.max_longitudinal_acc`|[m/s2]| double | maximum longitudinal acceleration for lane change | 1.0 |
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|`trajectory.min_longitudinal_acc`|[m/s2]| double | maximum longitudinal deceleration for lane change | -1.0 |
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|`trajectory.lane_changing_decel_factor`|[-]| double | longitudinal deceleration factor during lane changing phase | 0.5 |
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|`min_length_for_turn_signal_activation`|[m]| double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 |
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|`lateral_acceleration.velocity`|[m/s]| double | Reference velocity for lateral acceleration calculation (look up table) |[0.0, 4.0, 10.0]|
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|`lateral_acceleration.min_values`|[m/s2]| double | Min lateral acceleration values corresponding to velocity (look up table) |[0.4, 0.4, 0.4]|
Copy file name to clipboardexpand all lines: planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
Copy file name to clipboardexpand all lines: planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp
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