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feat: run_out does not plan to stop when there is enough time for stopping #749

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Dec 21, 2023
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feat: run_out does not plan to stop when there is enough time for stopping #749

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2 changes: 1 addition & 1 deletion ...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
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Expand Up @@ -4,7 +4,7 @@
detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points
use_partition_lanelet: true # [-] whether to use partition lanelet map data
suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
specify_decel_jerk: false # [-] whether to specify jerk when ego decelerates
specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates
stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin
passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
deceleration_jerk: -0.3 # [m/s^3] ego decelerates with this jerk when stopping for obstacles
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