change

Signed-off-by: Yuki Takagi <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -17,8 +17,8 @@
         far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
         stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
-        stop_distance_from_object_preferd: 5.0 # [m] 
-        stop_distance_from_object_limit: 2.5 # [m]
+        stop_distance_from_object_preferd: 3.0 # [m] 
+        stop_distance_from_object_limit: 3.0 # [m]
         min_acc_prefered: -1.0 # min acceleration [m/ss]
         min_jerk_prefered: -1.0 # min jerk [m/sss]
 
@@ -51,9 +51,9 @@
 
         no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
-          min_acc: -1.2 # min acceleration [m/ss]
-          min_jerk: -1.2 # min jerk [m/sss]
-          max_jerk: 1.2 # max jerk [m/sss]
+          min_acc: -1.5 # min acceleration [m/ss]
+          min_jerk: -1.5 # min jerk [m/sss]
+          max_jerk: 10.0 # max jerk [m/sss]
 
         stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 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)