feat(planning_launch): add a turn signal deactivation parameter for l…

…ane change (#398)
autowarefoundation · Jun 15, 2023 · bb51342 · bb51342
1 parent d7751ac
commit bb51342
Showing 1 changed file with 4 additions and 1 deletion.
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
@@ -6,7 +6,6 @@
 
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       lane_change_finish_judge_buffer: 2.0      # [m]
-      min_length_for_turn_signal_activation: 10.0 #[m]
 
       lane_changing_lateral_jerk: 0.5              # [m/s3]
       lateral_acc_switching_velocity: 4.0          #[m/s]
@@ -16,6 +15,10 @@
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
 
+      # turn signal
+      min_length_for_turn_signal_activation: 10.0 # [m]
+      length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)
+
       # longitudinal acceleration
       min_longitudinal_acc: -1.0
       max_longitudinal_acc: 1.0