feat(behavior_velocity_planner): enable disable_stop_for_yield_cancel…

… and disable_yield_for_new_stopped_object in crosswalk (autowarefoundation#718)
maxime-clem · Dec 17, 2023 · 04955a6 · 04955a6
1 parent 0de5f3c
commit 04955a6
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: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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 crosswalk where there is a traffic signal
-        disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
+        disable_stop_for_yield_cancel: true # for the crosswalk where there is a traffic signal
+        disable_yield_for_new_stopped_object: true # for the crosswalk where there is a traffic signal
         # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
         distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_map_for_no_intention_to_walk: [1.0, 0.0] # [s]