feat(lane_change): consider deceleration in safety check for cancel

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
rej55 · Jul 18, 2024 · 7f7a3a8 · 7f7a3a8
1 parent e490b47
commit 7f7a3a8
Showing 1 changed file with 1 addition and 0 deletions.
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
@@ -108,6 +108,7 @@
         max_lateral_jerk: 100.0             # [m/s3]
         overhang_tolerance: 0.0             # [m]
         unsafe_hysteresis_threshold: 5      # [/]
+        deceleration_sampling_num: 5 # [/]
 
       finish_judge_lateral_threshold: 0.2        # [m]