feat: update parameter for intersection auto mode (autowarefoundation…

…#602) Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Oct 27, 2023 · df34fa7 · df34fa7
1 parent 9ce80a4
commit df34fa7
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
@@ -5,4 +5,4 @@
       occupied_to_free: 0.05
       free_to_occupied: 0.2
       free_to_free: 0.8
-    v_ratio: 10.0
+    v_ratio: 0.5
diff --git a/...aunch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/...aunch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -19,9 +19,9 @@
     gridmap_origin_frame: "base_link"
     # ray-tracing center: main sensor frame is preferable like: "velodyne_top"
     # base_link should not be used with "OccupancyGridMapProjectiveBlindSpot"
-    scan_origin_frame: "base_link"
+    scan_origin_frame: "velodyne_top"
 
-    grid_map_type: "OccupancyGridMapFixedBlindSpot"
+    grid_map_type: "OccupancyGridMapProjectiveBlindSpot"
     OccupancyGridMapFixedBlindSpot:
       distance_margin: 1.0
     OccupancyGridMapProjectiveBlindSpot:

diff --git a/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/...planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -33,14 +33,14 @@
         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
+        keep_detection_vel_thr: 1.5 # == 5.4km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
 
       occlusion:
         enable: true
         occlusion_attention_area_length: 70.0 # [m]
         enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
         occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
-        peeking_offset: -0.5 # [m] offset for peeking into detection area
+        peeking_offset: 1.0 # [m] offset for peeking into detection area
         free_space_max: 43
         occupied_min: 58
         do_dp: true