From 4d5865c33e485e78e5aece983cc7d7296e72d470 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 10 Apr 2024 15:12:37 +0900 Subject: [PATCH] chore(intersection_occlusion): increase possible_object_bbox size to ignore small occlusion and ghost stop (#950) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 68d4070cbf..d39c97ac47 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -101,7 +101,7 @@ creep_velocity: 0.8333 peeking_offset: -0.5 occlusion_required_clearance_distance: 55.0 - possible_object_bbox: [1.5, 2.5] + possible_object_bbox: [1.75, 2.5] ignore_parked_vehicle_speed_threshold: 0.8333 occlusion_detection_hold_time: 1.5 temporal_stop_time_before_peeking: 0.1