refactor(lane_change): parameterize incoming object angle for filter

Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Jan 16, 2025 · 645bb63 · 645bb63
1 parent bd298a2
commit 645bb63
Showing 1 changed file with 2 additions and 1 deletion.
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
@@ -111,7 +111,8 @@
           intersection: true
           turns: true
         prediction_time_resolution: 0.5
-        yaw_diff_threshold: 3.1416
+        th_incoming_object_yaw: 2.3562 # [rad]
+        yaw_diff_threshold: 3.1416 # [rad]
         check_current_lanes: false
         check_other_lanes: false
         use_all_predicted_paths: false