feat(autoware_launch): add hold stop threshold in obstacle_cruise_pla…

…nner (#524) * feat(autoware_launch): add hold stop threshold in obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Aug 23, 2023 · dd3f79f · dd3f79f
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commit dd3f79f
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -14,6 +14,8 @@
       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]
       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]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index