From d79c5b5e0d588b2e7e23472f668f36557e23c74b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Oct 2023 15:03:34 +0900 Subject: [PATCH] feat(intersection): aggressively peek into attention area if traffic light does not exist Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 4 +++- 1 file changed, 3 insertions(+), 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 8d002636c8..5e74e837bf 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 @@ -54,7 +54,9 @@ ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h stop_release_margin_time: 1.5 # [s] temporal_stop_before_attention_area: false - peeking_offset_absence_tl: 3.0 # [m] + absence_traffic_light: + creep_velocity: 1.388 # [m/s] + maximum_peeking_distance: 6.0 # [m] 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