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feat(intersection): use planned velocity from upstream modules #597

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merged 2 commits into from
Sep 28, 2023
Merged

feat(intersection): use planned velocity from upstream modules #597

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a09edea
feat(intersection): use upstream velocity
soblin Sep 26, 2023
33c733b
parametrize minimum_upstream_velocity
soblin Sep 27, 2023
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2 changes: 2 additions & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -34,6 +34,8 @@
collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity

occlusion:
enable: false
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