From 6ed90f92c382140de55e44c64078a08e666fa0e4 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Tue, 1 Oct 2024 17:28:17 +0900
Subject: [PATCH] revert(obstacle_cruise): revert an awf change (#617)

Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (#1166)"
---
 .../obstacle_cruise_planner.param.yaml                        | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 3de8577c60..5f27fef6fb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -88,8 +88,8 @@
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
       # hysteresis for cruise and stop
-      obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle: