From 1243ddaf6631ac7d4b8ad7a5e32916f0e77b9099 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 14 Jan 2025 13:40:40 +0900 Subject: [PATCH] feat(lane_change): using frenet planner to generate lane change path when ego near terminal (#1290) * add parameter for enabling frenet Signed-off-by: Zulfaqar Azmi * parameterized th_yaw_diff Signed-off-by: Zulfaqar Azmi * prepare segment curvature threshold Signed-off-by: Zulfaqar Azmi * add curvature smoothing Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../lane_change/lane_change.param.yaml | 7 +++++++ 1 file changed, 7 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 19d6e80b9c..6d1e0a5fe9 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 @@ -29,6 +29,7 @@ lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 lane_changing_decel_factor: 0.5 + th_prepare_curvature: 0.03 # [/] # delay lane change delay_lane_change: @@ -37,6 +38,12 @@ min_road_shoulder_width: 0.5 # [m] th_parked_vehicle_shift_ratio: 0.6 + # trajectory generation near terminal using frenet planner + frenet: + enable: true + th_yaw_diff: 10.0 # [deg] + th_curvature_smoothing: 0.1 # [/] + # safety check safety_check: allow_loose_check_for_cancel: true