feat(planning_launch): add turn signal parameter (#517)

Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>
tier4 · Oct 18, 2022 · 516a20d · 516a20d
1 parent 3bfdaa1
commit 516a20d
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -15,7 +15,13 @@
     drivable_area_margin: 6.0
 
     refine_goal_search_radius_range: 7.5
-    intersection_search_distance: 30.0
+
+    # parameters for turn signal decider
+    turn_signal_intersection_search_distance: 30.0
+    turn_signal_intersection_angle_threshold_deg: 15.0
+    turn_signal_minimum_search_distance: 10.0
+    turn_signal_search_time: 3.0
+    turn_signal_shift_length_threshold: 0.3
 
     path_interval: 2.0