From 54776f0011479aa97dc49a52ce5a7d1798cd17e9 Mon Sep 17 00:00:00 2001
From: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Date: Thu, 6 Mar 2025 16:40:42 +0900
Subject: [PATCH] final

---
 .../config/obstacle_stop.param.yaml                         | 2 +-
 .../src/obstacle_stop_module.cpp                            | 6 +++---
 .../src/parameters.hpp                                      | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml
index c90d59d659923..b50284dd42306 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/config/obstacle_stop.param.yaml
@@ -10,7 +10,7 @@
         terminal_stop_margin : 3.0 # Stop margin at the goal. This value cannot exceed stop margin. [m]
         min_behavior_stop_margin: 3.0 # [m]
 
-        stop_margin_opposing_traffic: 5.0
+        additional_stop_margin_opposing_traffic: 5.0
 
         hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
         hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp
index c6dad6dbd204b..72201f2d7126d 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp
@@ -898,7 +898,7 @@ double ObstacleStopModule::calc_desired_stop_margin(
       return stop_planning_param_.terminal_stop_margin;
     }
     return stop_planning_param_.stop_margin;
-  }() + (stop_obstacle.velocity < 0.0) ? stop_planning_param_.stop_margin_opposing_traffic : 0.0;
+  }() + (stop_obstacle.velocity < 0.0) ? stop_planning_param_.additional_stop_margin_opposing_traffic : 0.0;
 
   // calculate stop margin on curve
   const double stop_margin_on_curve = calc_margin_from_obstacle_on_curve(
@@ -915,10 +915,10 @@ double ObstacleStopModule::calc_desired_stop_margin(
     const double stop_dist_diff =
       closest_behavior_stop_dist_on_ref_traj - (dist_to_collide_on_ref_traj - stop_margin_on_curve);
     if (0.0 < stop_dist_diff && stop_dist_diff < stop_margin_on_curve) {
-      return stop_planning_param_.min_behavior_stop_margin + (stop_obstacle.velocity < 0.0) ? stop_planning_param_.stop_margin_opposing_traffic;
+      return stop_planning_param_.min_behavior_stop_margin + (stop_obstacle.velocity < 0.0) ? stop_planning_param_.additional_stop_margin_opposing_traffic : 0.0;
     }
   }
-  return stop_margin_on_curve + (stop_obstacle.velocity < 0.0) ? stop_planning_param_.stop_margin_opposing_traffic;
+  return stop_margin_on_curve + (stop_obstacle.velocity < 0.0) ? stop_planning_param_.additional_stop_margin_opposing_traffic : 0.0;
 }
 
 std::optional<double> ObstacleStopModule::calc_candidate_zero_vel_dist(
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp
index 4e6bd26111132..944cc875b47cb 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/parameters.hpp
@@ -157,7 +157,7 @@ struct StopPlanningParam
   double stop_margin{};
   double terminal_stop_margin{};
   double min_behavior_stop_margin{};
-  double stop_margin_opposing_traffic{};
+  double additional_stop_margin_opposing_traffic{};
   double hold_stop_velocity_threshold{};
   double hold_stop_distance_threshold{};
   bool enable_approaching_on_curve{};
@@ -186,8 +186,8 @@ struct StopPlanningParam
       get_or_declare_parameter<double>(node, "obstacle_stop.stop_planning.terminal_stop_margin");
     min_behavior_stop_margin = get_or_declare_parameter<double>(
       node, "obstacle_stop.stop_planning.min_behavior_stop_margin");
-    stop_margin_opposing_traffic =
-      get_or_declare_parameter<double>(node, "obstacle_stop.stop_planning.stop_margin_opposing_traffic");
+    additional_stop_margin_opposing_traffic =
+      get_or_declare_parameter<double>(node, "obstacle_stop.stop_planning.additional_stop_margin_opposing_traffic");
     hold_stop_velocity_threshold = get_or_declare_parameter<double>(
       node, "obstacle_stop.stop_planning.hold_stop_velocity_threshold");
     hold_stop_distance_threshold = get_or_declare_parameter<double>(