From 2beedf70777dd6e9813125d05be567baad374c34 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 13 Oct 2023 17:27:14 +0900 Subject: [PATCH 1/2] feat(intersection): ignore decelerating vehicle on amber traffic light Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 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 30f4bc7b42..2d163b49cd 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 @@ -50,7 +50,9 @@ yield_on_green_traffic_light: distance_to_assigned_lanelet_start: 10.0 duration: 3.0 - range: 50.0 # [m] + object_dist_to_stopline: 10.0 # [m] + ignore_on_amber_traffic_light: + object_expected_deceleration: 2.0 # [m/ss] occlusion: enable: false From 191dc7a3b35eea1442e4c06cbd7a6f497251c5d3 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 13 Oct 2023 18:01:14 +0900 Subject: [PATCH 2/2] tuning Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 2d163b49cd..f37911b35b 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 @@ -39,8 +39,8 @@ collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 2.0 - collision_end_margin_time: 2.0 + collision_start_margin_time: 4.0 + collision_end_margin_time: 6.0 not_prioritized: 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