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tighten merge_from_private arrival condition #861

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tighten merge_from_private arrival condition #861

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617bd52
tighten merge_from_private arrival condition
soblin Sep 22, 2023
af6595b
relax the threshold a bit to avoid stuck due to vehicle controller
soblin Sep 22, 2023
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2 changes: 1 addition & 1 deletion planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = 1.0;
if (
signed_arc_dist_to_stop_point < distance_threshold &&
planner_data_->isVehicleStopped(planner_param_.stop_duration_sec)) {
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