From c95e8bbbec2a613e46fbfb18dff469cedfb13abf Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 29 Jan 2024 10:08:06 +0900 Subject: [PATCH] feat(intersection): publish and visualize the reason for dangerous situation to blame past detection fault retrospectively (#828) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 ++ 1 file changed, 2 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 fd6b067c38..c1b79dadb4 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 @@ -59,6 +59,8 @@ object_expected_deceleration: 2.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 + avoid_collision_by_acceleration: + object_time_margin_to_collision_point: 4.0 occlusion: enable: true