feat(behavior_velocity_traffic_light_module): change threshold veloci…

…ty of pass judge for preventing sudden stop (#1616) Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Oct 31, 2024 · 5236cdf · 5236cdf
1 parent 302674a
commit 5236cdf
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -353,7 +353,7 @@ bool TrafficLightModule::isPassthrough(const double & signed_arc_length) const
     delay_response_time);
 
   const bool distance_stoppable = pass_judge_line_distance < signed_arc_length;
-  const bool slow_velocity = planner_data_->current_velocity->twist.linear.x < 2.0;
+  const bool slow_velocity = planner_data_->current_velocity->twist.linear.x < 1.0;
   const bool stoppable = distance_stoppable || slow_velocity;
   const bool reachable = signed_arc_length < reachable_distance;