chore(run_out): update parameters for run out (#497)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
autowarefoundation · Oct 7, 2022 · 0be98d5 · 0be98d5
1 parent 2d78c4c
commit 0be98d5
Showing 1 changed file with 4 additions and 3 deletions.
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
@@ -33,9 +33,10 @@
 
       # parameters for the change of state. used only when approaching is enabled
       state:
-        stop_thresh: 0.01          # [m/s] threshold to decide if ego is stopping
-        stop_time_thresh: 3.0      # [sec] threshold for stopping time to transit to approaching state
-        disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value
+        stop_thresh: 0.01           # [m/s] threshold to decide if ego is stopping
+        stop_time_thresh: 3.0       # [sec] threshold for stopping time to transit to approaching state
+        disable_approach_dist: 3.0  # [m] end the approaching state if distance to the obstacle is longer than this value
+        keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
 
       # parameter to avoid sudden stopping
       slow_down_limit: