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feat(intersection): rectify smoothed velocity
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Signed-off-by: Mamoru Sobue <[email protected]>
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soblin committed Nov 6, 2023
1 parent e76498c commit 210097a
Showing 1 changed file with 4 additions and 4 deletions.
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collision_start_margin_time: 2.0
collision_end_margin_time: 0.0
partially_prioritized:
collision_start_margin_time: 4.0
collision_end_margin_time: 6.0
collision_start_margin_time: 3.0
collision_end_margin_time: 2.0
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
collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object
collision_end_margin_time: 2.0 # [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
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
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