From 9f71e254258c965193e04112074a4f5da584be42 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 20 Oct 2023 23:20:21 +0900 Subject: [PATCH] Hotfix/intersection (#678) * feat(intersection): yield initially on green light (#623) Signed-off-by: Mamoru Sobue * feat(intersection): timeout static occlusion with traffic light (#646) Signed-off-by: Mamoru Sobue * feat(intersection): ignore decelerating vehicle on amber traffic light (#635) * feat(intersection): ignore decelerating vehicle on amber traffic light Signed-off-by: Mamoru Sobue * tuning Signed-off-by: Mamoru Sobue --------- Signed-off-by: Mamoru Sobue --------- Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 0eff13a2e5..41185e6ecf 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 @@ -54,6 +54,7 @@ maximum_peeking_distance: 6.0 # [m] attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.6 + static_occlusion_with_traffic_light_timeout: 0.5 enable_rtc: intersection: true # 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