feat(autoware_launch): add chattering suppression margin in crosswalk (…

…autowarefoundation#494) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tkimura4 · Aug 2, 2023 · f0f5f02 · f0f5f02
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commit f0f5f02
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/...io_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -37,7 +37,9 @@
       # param for pass judge logic
       pass_judge:
         ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding