fix(obstacle-cruise-planner): lower velocity hysteresis threshold for…

… handling vru maneuver overlapping with ego trj Signed-off-by: Ahmed Ebrahim <[email protected]>
autowarefoundation · Aug 20, 2024 · 29db88c · 29db88c
1 parent 5b01e24
commit 29db88c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -89,7 +89,7 @@
 
       # hysteresis for cruise and stop
       obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 2.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle: