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fix(intersection): fix/formalize pass judge behavior #641

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fix(intersection): fix/formalize pass judge behavior #641

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6 changes: 5 additions & 1 deletion ...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,11 @@
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
keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
pass_judge:
judge_before_default_stop_line: false
keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
allow_overshoot_to_unprotected_area: true
tolerable_overshoot_to_unprotected_area: 0.5 # [m]
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:
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