adding parameter

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Author: zulfaqar-azmi-t4

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml

@@ -30,6 +30,10 @@
         min_road_shoulder_width: 0.5  # [m]
         th_parked_vehicle_shift_ratio: 0.6
 
+      # trajectory generation near terminal using frenet planner
+      frenet:
+        enable: true
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp

@@ -132,7 +132,6 @@ struct TrajectoryParameters
   int lon_acc_sampling_num{10};
   int lat_acc_sampling_num{10};
   LateralAccelerationMap lat_acc_map{};
-  FrenetPlannerParameters frenet{};
 };
 
 struct DelayParameters
@@ -149,6 +148,7 @@ struct Parameters
   SafetyParameters safety{};
   CancelParameters cancel{};
   DelayParameters delay{};
+  FrenetPlannerParameters frenet{};
 
   // lane change parameters
   double backward_lane_length{200.0};

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp

@@ -211,6 +211,10 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s
   p.delay.th_parked_vehicle_shift_ratio = getOrDeclareParameter<double>(
     *node, parameter("delay_lane_change.th_parked_vehicle_shift_ratio"));
 
+  // trajectory generation near terminal using frenet planner
+  p.frenet.enable =
+    getOrDeclareParameter<bool>(*node, parameter("frenet.enable"));
+
   // lane change cancel
   p.cancel.enable_on_prepare_phase =
     getOrDeclareParameter<bool>(*node, parameter("cancel.enable_on_prepare_phase"));

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp

@@ -1101,7 +1101,7 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths)
   const auto prepare_phase_metrics = get_prepare_metrics();
 
   if (
-    common_data_ptr_->lc_param_ptr->trajectory.frenet.enable &&
+    common_data_ptr_->lc_param_ptr->frenet.enable &&
     common_data_ptr_->transient_data.is_ego_near_current_terminal_start) {
     return get_path_using_frenet(prepare_phase_metrics, target_objects, candidate_paths);
   }