chore: change crosswalk param (autowarefoundation#600)

* chore: change crosswalk param Signed-off-by: tomoya.kimura <[email protected]> * fix comment Signed-off-by: tomoya.kimura <[email protected]> --------- Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Aug 10, 2023 · b153147 · b153147
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commit b153147
Showing 1 changed file with 1 addition and 1 deletion.
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
@@ -43,7 +43,7 @@
         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_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         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.
-        stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
+        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