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fix(obstacle_cruise_planner): adjust parameters for handling overtaking then slowing down NPC #1102

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fix(obstacle_cruise_planner): adjust parameters for handling overtaking then slowing down NPC #1102

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4 changes: 2 additions & 2 deletions ...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
safe_distance_margin : 6.0 # This is also used as a stop margin [m]
safe_distance_margin : 5.0 # This is also used as a stop margin [m]
terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
Expand Down Expand Up @@ -88,7 +88,7 @@
stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle

# hysteresis for cruise and stop
obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
obstacle_velocity_threshold_from_cruise_to_stop : 2.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]

# if crossing vehicle is determined as target obstacles or not
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