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chore(crosswalk): change LATER param #868

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Feb 13, 2024
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chore(crosswalk): change LATER param #868

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2 changes: 1 addition & 1 deletion ...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
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Expand Up @@ -41,7 +41,7 @@
ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
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: [10.0] # [[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_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

no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
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