From bb513424f0406b0ebc8993c1ba7a3ca422e39ba8 Mon Sep 17 00:00:00 2001
From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
Date: Thu, 15 Jun 2023 20:23:45 +0900
Subject: [PATCH] feat(planning_launch): add a turn signal deactivation
 parameter for lane change (#398)

---
 .../behavior_path_planner/lane_change/lane_change.param.yaml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index fb63a1b35c..a6e1594b89 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/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