From 5236cdf6a5622249c4ce12aeb938d41e7d121a14 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Thu, 31 Oct 2024 16:20:56 +0900 Subject: [PATCH] feat(behavior_velocity_traffic_light_module): change threshold velocity of pass judge for preventing sudden stop (#1616) Signed-off-by: tomoya.kimura --- planning/behavior_velocity_traffic_light_module/src/scene.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp index adc1aacf94f48..f9051259c180b 100644 --- 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;