tighten merge_from_private arrival condition

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Sep 22, 2023 · 617bd52 · 617bd52
1 parent c3ed832
commit 617bd52
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
@@ -134,7 +134,7 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR
     const double signed_arc_dist_to_stop_point = motion_utils::calcSignedArcLength(
       path->points, current_pose.position, path->points.at(stop_line_idx).point.pose.position);
 
-    constexpr double distance_threshold = 2.0;
+    constexpr double distance_threshold = 0.1;
     if (
       signed_arc_dist_to_stop_point < distance_threshold &&
       planner_data_->isVehicleStopped(planner_param_.stop_duration_sec)) {