From 617bd52817fc91f51c2a10104ed4d3111cb40e91 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 22 Sep 2023 12:44:46 +0900 Subject: [PATCH 1/2] tighten merge_from_private arrival condition Signed-off-by: Mamoru Sobue --- .../src/scene_merge_from_private_road.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index 10ad395953476..e496d7ce4ff26 100644 --- 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)) { From af6595b567977af7594c884d9ccf7b2ab446acc3 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 22 Sep 2023 13:34:23 +0900 Subject: [PATCH 2/2] relax the threshold a bit to avoid stuck due to vehicle controller Signed-off-by: Mamoru Sobue --- .../src/scene_merge_from_private_road.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index e496d7ce4ff26..4dfe8a20dd70a 100644 --- 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 = 0.1; + constexpr double distance_threshold = 1.0; if ( signed_arc_dist_to_stop_point < distance_threshold && planner_data_->isVehicleStopped(planner_param_.stop_duration_sec)) {