feat: make crosswalk decision more aggressive towards the real world'…

…s driving (#762) Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 27, 2023 · e17229c · e17229c
1 parent 6bc483a
commit e17229c
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -53,8 +53,8 @@
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding
-        disable_stop_for_yield_cancel: false # for the crosswalks with traffic signal
-        disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
+        disable_stop_for_yield_cancel: true # for the crosswalks with traffic signal
+        disable_yield_for_new_stopped_object: true # for the crosswalks with traffic signal
         # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
         distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]