feat(lane_change): enable lane change in crosswalk/intersection if eg…

…o vehicle gets stuck (autowarefoundation#451) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
maxime-clem · Jun 25, 2024 · 148c664 · 148c664
1 parent b6deb78
commit 148c664
Showing 1 changed file with 5 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
@@ -98,6 +98,11 @@
         velocity: 0.5 # [m/s]
         stop_time: 3.0 # [s]
 
+      # ego vehicle stuck detection
+      stuck_detection:
+        velocity: 0.1 # [m/s]
+        stop_time: 3.0 # [s]
+
       # lane change cancel
       cancel:
         enable_on_prepare_phase: true