Merge pull request #459 from tier4/hotfix/pr5156

feat(intersection): use planned velocity from upstream modules (#597)
tier4 · Sep 30, 2023 · 008316e · 008316e
2 parents 4e61938 + f593998
commit 008316e
Showing 1 changed file with 2 additions and 0 deletions.
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
@@ -32,6 +32,8 @@
           collision_start_margin_time: 2.0
           collision_end_margin_time: 0.0
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
+        use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module
+        minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity
 
       occlusion:
         enable: false