From 29db88ce59511d46b94005680112fcbed1ab84b7 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim Date: Tue, 20 Aug 2024 16:09:51 +0300 Subject: [PATCH] fix(obstacle-cruise-planner): lower velocity hysteresis threshold for handling vru maneuver overlapping with ego trj Signed-off-by: Ahmed Ebrahim --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 695a3b2365..1850569fac 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/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: