feat: run_out does not plan to stop when there is enough time for sto…

…pping (autowarefoundation#749) Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Dec 21, 2023 · a9779ec · a9779ec
1 parent cfa256f
commit a9779ec
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/...ario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -4,7 +4,7 @@
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
-      specify_decel_jerk: false   # [-] whether to specify jerk when ego decelerates
+      specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
       deceleration_jerk: -0.3     # [m/s^3] ego decelerates with this jerk when stopping for obstacles