feat(crosswalk)!: change a hard coding number and set as param (autow…

…arefoundation#977) (autowarefoundation#849) * change param Signed-off-by: Yuki Takagi <[email protected]>
maxime-clem · May 7, 2024 · 718e4c3 · 718e4c3
1 parent 7381ea9
commit 718e4c3
Showing 1 changed file with 1 addition and 0 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
@@ -43,6 +43,7 @@
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
+        ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point
 
         no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.