feat: tune condition of between cruise and stop (autowarefoundation#565)

Tune condition of between cruise and stop
maxime-clem · Jan 19, 2024 · 7157b63 · 7157b63
1 parent 1e9c457
commit 7157b63
Showing 1 changed file with 2 additions and 2 deletions.
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
@@ -79,8 +79,8 @@
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
       # 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_cruise_to_stop : 4.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 4.5 # 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: