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feat(intersection): yield initially on green light #623

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merged 2 commits into from
Oct 6, 2023
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feat(intersection): yield initially on green light #623

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feat(intersection): yield initially on green light
soblin Oct 5, 2023
895d8e6
use the distance from assigned lanelet
soblin Oct 6, 2023
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4 changes: 4 additions & 0 deletions ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Expand Up @@ -36,6 +36,10 @@
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
yield_on_green_traffic_light:
distance_to_assigned_lanelet_start: 10.0
duration: 3.0
range: 50.0 # [m]

occlusion:
enable: false
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