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feat(behavior_velocity_traffic_light_module): change threshold velocity of pass judge for preventing sudden stop #1616

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Oct 31, 2024
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feat(behavior_velocity_traffic_light_module): change threshold velocity of pass judge for preventing sudden stop #1616

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2 changes: 1 addition & 1 deletion planning/behavior_velocity_traffic_light_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -353,7 +353,7 @@ bool TrafficLightModule::isPassthrough(const double & signed_arc_length) const
delay_response_time);

const bool distance_stoppable = pass_judge_line_distance < signed_arc_length;
const bool slow_velocity = planner_data_->current_velocity->twist.linear.x < 2.0;
const bool slow_velocity = planner_data_->current_velocity->twist.linear.x < 1.0;
const bool stoppable = distance_stoppable || slow_velocity;
const bool reachable = signed_arc_length < reachable_distance;

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