feat(lane_change): expand target lanes for object filtering (autoware…

…foundation#601) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
maxime-clem · Oct 4, 2023 · 7d13270 · 7d13270
1 parent 8967b73
commit 7d13270
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
@@ -38,6 +38,11 @@
         longitudinal_distance_min_threshold: 3.0
         longitudinal_velocity_delta_time: 0.8
 
+        # lane expansion for object filtering
+        lane_expansion:
+          left_offset: 0.0 # [m]
+          right_offset: 0.0 # [m]
+
       # lateral acceleration map
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]