feat(lane_change): add lane change parameter (#1263)

* add flag to enable/disable terminal path feature Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add parameter to cofigure stop point placement Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add flag to disable feature near goal Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * set default flag value to false Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
autowarefoundation · Dec 27, 2024 · 1c68a7d · 1c68a7d
1 parent fb51904
commit 1c68a7d
Showing 1 changed file with 6 additions 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
@@ -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