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feat(intersection): aggressively peek into attention area if traffic light does not exist #611

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merged 2 commits into from
Oct 4, 2023
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feat(intersection): aggressively peek into attention area if traffic light does not exist #611

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e34a5f0
add peeking_offset_absence_tl param
soblin Sep 26, 2023
d79c5b5
feat(intersection): aggressively peek into attention area if traffic …
soblin Oct 2, 2023
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3 changes: 3 additions & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -54,6 +54,9 @@
ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
stop_release_margin_time: 1.5 # [s]
temporal_stop_before_attention_area: false
absence_traffic_light:
creep_velocity: 1.388 # [m/s]
maximum_peeking_distance: 6.0 # [m]

enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
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