From 6a54b7d872450ed76701c66415c001443c1d9a91 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 27 Oct 2023 14:27:46 +0900 Subject: [PATCH 1/2] feat(intersection): add ttc debug plotter Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 3 +++ 1 file changed, 3 insertions(+) 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 ea5c5736ca..ad5d45338a 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 @@ -83,6 +83,9 @@ attention_lane_curvature_calculation_ds: 0.5 static_occlusion_with_traffic_light_timeout: 0.5 + debug: + ttc: [] + enable_rtc: intersection: false # 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 intersection_to_occlusion: false From 7f2de71e37f9960b4dc35a9112330d050472af1e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 30 Oct 2023 14:29:19 +0900 Subject: [PATCH 2/2] add default lane_id value Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 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 ad5d45338a..960dd89b00 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 @@ -84,7 +84,7 @@ static_occlusion_with_traffic_light_timeout: 0.5 debug: - ttc: [] + ttc: [0] enable_rtc: intersection: false # 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